diff --git a/.idea/misc.xml b/.idea/misc.xml
index cd77a1f062..21e99e2dc0 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -4,7 +4,7 @@
     <asm skipDebug="false" skipFrames="false" skipCode="false" expandFrames="false" />
     <groovy codeStyle="LEGACY" />
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" project-jdk-name="JDK" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
 </project>
\ No newline at end of file
diff --git a/app/build.gradle b/app/build.gradle
index 2b479554e4..ef8a91ff95 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -337,7 +337,7 @@ dependencies {
         implementation rootProject.ext.dependencies.mogomoduleauth
         implementation rootProject.ext.dependencies.modulemedia
         implementation rootProject.ext.dependencies.moduleservice
-        implementation rootProject.ext.dependencies.moduleobu
+//        implementation rootProject.ext.dependencies.moduleobu
         implementation rootProject.ext.dependencies.modulesplash
         implementation rootProject.ext.dependencies.moduleV2x
         implementation rootProject.ext.dependencies.moduletanlu, {
@@ -355,7 +355,7 @@ dependencies {
         implementation project(':modules:mogo-module-authorize')
         implementation project(':modules:mogo-module-media')
         implementation project(':modules:mogo-module-service')
-        implementation project(':modules:mogo-module-obu')
+//        implementation project(':modules:mogo-module-obu')
         implementation project(':modules:mogo-module-splash')
         implementation project(':modules:mogo-module-v2x')
         implementation project(':modules:mogo-module-tanlu'), {
diff --git a/app/src/main/java/com/mogo/launcher/MogoApplication.java b/app/src/main/java/com/mogo/launcher/MogoApplication.java
index 3394d0a926..14ef1e191f 100644
--- a/app/src/main/java/com/mogo/launcher/MogoApplication.java
+++ b/app/src/main/java/com/mogo/launcher/MogoApplication.java
@@ -97,6 +97,7 @@ public class MogoApplication extends AbsMogoApplication {
 // 碰撞报警模块
         MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_CRASH_WARNING,
                 "CrashWarning"));
+
         if ( !DebugConfig.isLauncher() ) {
             PersistentManager.getInstance().initManager( this );
             Intent intent = new Intent( this, MogoMainService.class );
diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
index 4f9761ca27..b000edd5f7 100644
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
@@ -28,7 +28,7 @@ public class DebugConfig {
      *
      * @param sDebug true - 调试模式 false - 非调试模式
      */
-    public static void setDebug( boolean sDebug ) {
+    public static void setDebug(boolean sDebug) {
         DebugConfig.sDebug = sDebug;
     }
 
@@ -83,6 +83,15 @@ public class DebugConfig {
 
     private static int sCarMachineType = CAR_MACHINE_TYPE_SELF_INNOVATE;
 
+    /**
+     * 西迪obu
+     */
+    public static final int OBU_TYPE_CIDI = 1;
+    /**
+     * 华砺智行obu
+     */
+    public static final int OBU_TYPE_HUALI = 2;
+
     /**
      * 获取网络环境类型
      *
@@ -102,7 +111,7 @@ public class DebugConfig {
      *                {@link #NET_MODE_DEMO}
      *                {@link #NET_MODE_RELEASE}
      */
-    public static void setNetMode( int netMode ) {
+    public static void setNetMode(int netMode) {
         DebugConfig.sNetMode = netMode;
     }
 
@@ -115,7 +124,7 @@ public class DebugConfig {
         return sLaunchLocationService;
     }
 
-    public static void setLaunchLocationService( boolean launchLocationService ) {
+    public static void setLaunchLocationService(boolean launchLocationService) {
         DebugConfig.sLaunchLocationService = launchLocationService;
     }
 
@@ -128,7 +137,7 @@ public class DebugConfig {
         return sUseCustomNavi;
     }
 
-    public static void setUseCustomNavi( boolean sUseCustomNavi ) {
+    public static void setUseCustomNavi(boolean sUseCustomNavi) {
         DebugConfig.sUseCustomNavi = sUseCustomNavi;
     }
 
@@ -137,8 +146,8 @@ public class DebugConfig {
      *
      * @param aiType {@link #AI_TYPE_NOOP} {@link #AI_TYPE_TXZ}   {@link #AI_TYPE_SPEECH}
      */
-    public static void setAIType( int aiType ) {
-        Logger.d( "DebugConfig", "setAiType: " + aiType );
+    public static void setAIType(int aiType) {
+        Logger.d("DebugConfig", "setAiType: " + aiType);
         sAIType = aiType;
     }
 
@@ -154,7 +163,7 @@ public class DebugConfig {
      *
      * @param type {@link #CAR_MACHINE_TYPE_SELF_INNOVATE} {@link #CAR_MACHINE_TYPE_BYD}
      */
-    public static void setCarMachineType( int type ) {
+    public static void setCarMachineType(int type) {
         sCarMachineType = type;
     }
 
@@ -176,7 +185,7 @@ public class DebugConfig {
         return sIsLauncher;
     }
 
-    public static void setLauncher( boolean isLauncher ) {
+    public static void setLauncher(boolean isLauncher) {
         DebugConfig.sIsLauncher = isLauncher;
     }
 
@@ -186,7 +195,7 @@ public class DebugConfig {
         return sRequestOnlineCarData;
     }
 
-    public static void setRequestOnlineCarData( boolean sRequestOnlineCarData ) {
+    public static void setRequestOnlineCarData(boolean sRequestOnlineCarData) {
         DebugConfig.sRequestOnlineCarData = sRequestOnlineCarData;
     }
 
@@ -199,13 +208,13 @@ public class DebugConfig {
         return sActiveAIAssistFlag;
     }
 
-    public static void setActiveAIAssistFlag( boolean sActiveAIAssistFlag ) {
+    public static void setActiveAIAssistFlag(boolean sActiveAIAssistFlag) {
         DebugConfig.sActiveAIAssistFlag = sActiveAIAssistFlag;
     }
 
     private static boolean useMockObuData;
 
-    public static void setUseMockObuData( boolean use ) {
+    public static void setUseMockObuData(boolean use) {
         useMockObuData = use;
     }
 
@@ -224,13 +233,13 @@ public class DebugConfig {
      *
      * @param sProductFlavor
      */
-    public static void setProductFlavor( String sProductFlavor ) {
+    public static void setProductFlavor(String sProductFlavor) {
         DebugConfig.sProductFlavor = sProductFlavor;
     }
 
     private static String sSocketAppId;
 
-    public static void setSocketAppId( String sSocketAppId ) {
+    public static void setSocketAppId(String sSocketAppId) {
         DebugConfig.sSocketAppId = sSocketAppId;
     }
 
@@ -247,14 +256,14 @@ public class DebugConfig {
         return sRoadEventAnimated;
     }
 
-    public static void setRoadEventAnimated( boolean sRoadEventAnimated ) {
+    public static void setRoadEventAnimated(boolean sRoadEventAnimated) {
         DebugConfig.sRoadEventAnimated = sRoadEventAnimated;
     }
 
 
     private static boolean sLoadGuideModule = false;
 
-    public static void setLoadGuideModule( boolean sLoadGuideModule ) {
+    public static void setLoadGuideModule(boolean sLoadGuideModule) {
         DebugConfig.sLoadGuideModule = sLoadGuideModule;
     }
 
@@ -264,17 +273,27 @@ public class DebugConfig {
 
     private static String SP_GUIDE = "SP_GUIDE_2020_09_09";
 
-    public static String getSpGuide(){
+    public static String getSpGuide() {
         return SP_GUIDE;
     }
 
     private static boolean isSkinSupported = false;
 
-    public static void setSkinSupported( boolean isSkinSupported ) {
+    public static void setSkinSupported(boolean isSkinSupported) {
         DebugConfig.isSkinSupported = isSkinSupported;
     }
 
     public static boolean isSkinSupported() {
         return isSkinSupported;
     }
+
+    private static int obuType = OBU_TYPE_HUALI;
+
+    public static int getObuType() {
+        return obuType;
+    }
+
+    public static void setObuType(int type) {
+        obuType = type;
+    }
 }
diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/EventDispatchCenter.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/EventDispatchCenter.java
index 1b7de74777..5320407166 100644
--- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/EventDispatchCenter.java
+++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/EventDispatchCenter.java
@@ -21,14 +21,10 @@ import com.mogo.map.navi.MogoTraffic;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.module.main.registercenter.MogoRegisterCenterHandler;
 import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
-import com.mogo.service.obu.IMogoObuDataChangedListener;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.adasconfig.common.config.EnumCarChatIncognitoMode;
 import com.zhidao.adasconfig.listener.IAdasSettingUIListener;
 import com.zhidao.adasconfig.listener.IAdasSkinStyleListener;
-import com.zhidao.smartv2x.model.obu.CarEventInfo;
-import com.zhidao.smartv2x.model.obu.CarLocationInfo;
-import com.zhidao.smartv2x.model.obu.TrafficLightInfo;
 
 import java.util.Iterator;
 
@@ -46,7 +42,6 @@ public class EventDispatchCenter implements
         IMogoMapListener,
         IMogoNaviListener2,
         IMogoLocationListener,
-        IMogoObuDataChangedListener,
         IAdasSettingUIListener,
         IAdasSkinStyleListener {
 
@@ -486,50 +481,6 @@ public class EventDispatchCenter implements
         }
     }
 
-    @Override
-    public void showCarLocationInfo( CarLocationInfo info ) {
-        Iterator< IMogoObuDataChangedListener > iterator = MogoRegisterCenterHandler.getInstance().getObuDataChangedListeners();
-        if ( iterator == null ) {
-            return;
-        }
-        while ( iterator.hasNext() ) {
-            iterator.next().showCarLocationInfo( info );
-        }
-    }
-
-    @Override
-    public void showOtherInfo( String info ) {
-        Iterator< IMogoObuDataChangedListener > iterator = MogoRegisterCenterHandler.getInstance().getObuDataChangedListeners();
-        if ( iterator == null ) {
-            return;
-        }
-        while ( iterator.hasNext() ) {
-            iterator.next().showOtherInfo( info );
-        }
-    }
-
-    @Override
-    public void showTrafficLightInfo( TrafficLightInfo info ) {
-        Iterator< IMogoObuDataChangedListener > iterator = MogoRegisterCenterHandler.getInstance().getObuDataChangedListeners();
-        if ( iterator == null ) {
-            return;
-        }
-        while ( iterator.hasNext() ) {
-            iterator.next().showTrafficLightInfo( info );
-        }
-    }
-
-    @Override
-    public void showCarEventInfo( CarEventInfo info ) {
-        Iterator< IMogoObuDataChangedListener > iterator = MogoRegisterCenterHandler.getInstance().getObuDataChangedListeners();
-        if ( iterator == null ) {
-            return;
-        }
-        while ( iterator.hasNext() ) {
-            iterator.next().showCarEventInfo( info );
-        }
-    }
-
     @Override
     public void northModel() {
         Iterator< IMogoADASControlStatusChangedListener > iterator = MogoRegisterCenterHandler.getInstance().getAdasControlStatusChangedListeners();
diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
index 61d14457c1..6b501fafc9 100644
--- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
+++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
@@ -6,9 +6,6 @@ import android.util.Log;
 import android.view.View;
 import android.widget.FrameLayout;
 
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
 import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.mvp.MvpActivity;
@@ -30,7 +27,6 @@ import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
 import com.mogo.service.fragmentmanager.IMogoFragmentManager;
 import com.mogo.service.map.IMogoMapService;
 import com.mogo.service.module.IMogoModuleProvider;
-import com.mogo.service.obu.IMogoObuManager;
 import com.mogo.service.statusmanager.IMogoStatusManager;
 import com.mogo.skin.support.SkinMode;
 import com.mogo.utils.logger.Logger;
@@ -40,6 +36,9 @@ import com.zhidao.autopilot.support.api.AutopilotServiceManage;
 
 import java.util.List;
 
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
 /**
  * @author congtaowang
  * @since 2019-12-23
@@ -159,11 +158,6 @@ public class MainActivity extends MvpActivity< MainView, MainPresenter > impleme
             mMogoMapService.getHostListenerRegister().registerMarkerClickListener( this );
         }
 
-        IMogoObuManager obuManager = mServiceApis.getObuManager();
-        if(obuManager!=null) {
-            obuManager.registerObuDataChangedListener(EventDispatchCenter.getInstance());
-        }
-
         if ( DebugConfig.isSkinSupported() ) {
             initAdasControlStatusListener();
         }
diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/registercenter/MogoRegisterCenter.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/registercenter/MogoRegisterCenter.java
index ec029d7bac..447b3005cc 100644
--- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/registercenter/MogoRegisterCenter.java
+++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/registercenter/MogoRegisterCenter.java
@@ -13,7 +13,6 @@ import com.mogo.service.MogoServicePaths;
 import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
 import com.mogo.service.module.IMogoModuleLifecycle;
 import com.mogo.service.module.IMogoRegisterCenter;
-import com.mogo.service.obu.IMogoObuDataChangedListener;
 
 import java.util.Iterator;
 
@@ -101,16 +100,6 @@ public class MogoRegisterCenter implements IMogoRegisterCenter {
         MogoRegisterCenterHandler.getInstance().unregisterCarLocationChangedListener( tag, listener );
     }
 
-    @Override
-    public void registerObuDataListener( String tag, IMogoObuDataChangedListener listener ) {
-        MogoRegisterCenterHandler.getInstance().registerObuDataListener( tag, listener );
-    }
-
-    @Override
-    public void unregisterObuDataListener( String tag ) {
-        MogoRegisterCenterHandler.getInstance().unregisterObuDataListener( tag );
-    }
-
     @Override
     public void registerADASControlStatusChangedListener( String tag, IMogoADASControlStatusChangedListener listener ) {
         MogoRegisterCenterHandler.getInstance().registerADASControlStatusChangedListener( tag, listener );
diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/registercenter/MogoRegisterCenterHandler.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/registercenter/MogoRegisterCenterHandler.java
index 060bfe8d67..d4a009fa7d 100644
--- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/registercenter/MogoRegisterCenterHandler.java
+++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/registercenter/MogoRegisterCenterHandler.java
@@ -11,7 +11,6 @@ import com.mogo.map.navi.IMogoNaviListener;
 import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
 import com.mogo.service.module.IMogoModuleLifecycle;
 import com.mogo.service.module.IMogoRegisterCenter;
-import com.mogo.service.obu.IMogoObuDataChangedListener;
 
 import java.util.HashMap;
 import java.util.Iterator;
@@ -34,7 +33,6 @@ public class MogoRegisterCenterHandler implements IMogoRegisterCenter {
     private Map< String, IMogoMarkerClickListener > mMarker = new HashMap<>();
     private Map< String, IMogoAimlessModeListener > mAimless = new HashMap<>();
     private Map< String, IMogoCarLocationChangedListener > mCarLocations = new HashMap<>();
-    private Map< String, IMogoObuDataChangedListener > mObus = new HashMap<>();
     private Map< String, IMogoADASControlStatusChangedListener > mADAS = new HashMap<>();
 
     private MogoRegisterCenterHandler() {
@@ -126,16 +124,6 @@ public class MogoRegisterCenterHandler implements IMogoRegisterCenter {
         mCarLocations.remove( tag );
     }
 
-    @Override
-    public void registerObuDataListener( String tag, IMogoObuDataChangedListener listener ) {
-        mObus.put( tag, listener );
-    }
-
-    @Override
-    public void unregisterObuDataListener( String tag ) {
-        mObus.remove( tag );
-    }
-
     @Override
     public void registerADASControlStatusChangedListener( String tag, IMogoADASControlStatusChangedListener listener ) {
         mADAS.put( tag, listener );
@@ -182,10 +170,6 @@ public class MogoRegisterCenterHandler implements IMogoRegisterCenter {
         return mNavi.values().iterator();
     }
 
-    public Iterator< IMogoObuDataChangedListener > getObuDataChangedListeners() {
-        return mObus.values().iterator();
-    }
-
     @Override
     public Iterator< IMogoLocationListener > getLocationListeners() {
         return mLocation.values().iterator();
diff --git a/modules/mogo-module-obu/build.gradle b/modules/mogo-module-obu/build.gradle
index b48130dc8d..a1be0b0c2e 100644
--- a/modules/mogo-module-obu/build.gradle
+++ b/modules/mogo-module-obu/build.gradle
@@ -39,6 +39,9 @@ dependencies {
     kapt rootProject.ext.dependencies.aroutercompiler
     implementation rootProject.ext.dependencies.rxjava
     implementation rootProject.ext.dependencies.rxandroid
+
+    implementation rootProject.ext.dependencies.obusdk
+    implementation 'com.mogo.module:module-crash-warning:1.1.0'
     if (Boolean.valueOf(RELEASE)) {
         implementation rootProject.ext.dependencies.modulecommon
     } else {
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/MockUtil.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/MockUtil.kt
index 67895e4ea2..472c0f6bb7 100644
--- a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/MockUtil.kt
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/MockUtil.kt
@@ -26,12 +26,12 @@ import kotlin.random.Random
  */
 object MockUtil {
     const val TAG = "MockUtil"
-    private lateinit var dataCallback : OnMessageReceiveListener
+    private var dataCallback : OnMessageReceiveListener?=null
 
     private lateinit var intervalObs:Disposable
     private lateinit var intervalObs2:Disposable
 
-    fun init(context: Context, callback: OnMessageReceiveListener){
+    fun init(context: Context, callback: OnMessageReceiveListener? = null){
         Logger.d(TAG, "使用模拟obu数据===")
         dataCallback = callback
         val api = ARouter.getInstance().build(MogoServicePaths.PATH_SERVICE_APIS).navigation(context) as IMogoServiceApis
@@ -45,7 +45,7 @@ object MockUtil {
                 0 -> "已更改前方红绿灯状态，可优先通行"
                 else -> "已增加前方绿灯时间，可优先通行"
             }
-            dataCallback.showCarEventInfo(carEventInfo)
+            dataCallback?.showCarEventInfo(carEventInfo)
         }
 
         view.findViewById<Button>(R.id.btnRoadCondition).setOnClickListener {
@@ -53,7 +53,7 @@ object MockUtil {
             carEventInfo.type = "行人碰撞预警"
             carEventInfo.typeCode = "39"
             carEventInfo.describe = "这个应该是随便写，反正也不用"
-            dataCallback.showCarEventInfo(carEventInfo)
+            dataCallback?.showCarEventInfo(carEventInfo)
         }
         api.windowManagerApi.addView(view, 500, 300, false)
         intervalMockData()
@@ -92,21 +92,21 @@ object MockUtil {
                     1 -> "建议50km/h车速行驶"
                     else -> "建议30km/h ~ 50km/h 车速行驶"
                 }
-                dataCallback.showCarEventInfo(carEventInfo)
+                dataCallback?.showCarEventInfo(carEventInfo)
             }
             1->{
                 // 前方急刹预警
                 carEventInfo.type = "紧急制动预警"
                 carEventInfo.typeCode = "06"
                 carEventInfo.describe = "这个应该是随便写，反正也不用"
-                dataCallback.showCarEventInfo(carEventInfo)
+                dataCallback?.showCarEventInfo(carEventInfo)
             }
             2->{
                 // 行人碰撞预警
                 carEventInfo.type = "行人碰撞预警"
                 carEventInfo.typeCode = "39"
                 carEventInfo.describe = "这个应该是随便写，反正也不用"
-                dataCallback.showCarEventInfo(carEventInfo)
+                dataCallback?.showCarEventInfo(carEventInfo)
             }
             3 -> {
                 // vip变灯提醒
@@ -117,7 +117,7 @@ object MockUtil {
                     0 -> "已更改前方红绿灯状态，可优先通行"
                     else -> "已增加前方绿灯时间，可优先通行"
                 }
-                dataCallback.showCarEventInfo(carEventInfo)
+                dataCallback?.showCarEventInfo(carEventInfo)
             }
             else->{
                 // 其他，不处理
@@ -135,7 +135,7 @@ object MockUtil {
         trafficLightInfo.lightStatus = "R"
         for (i in 0..5) {
             trafficLightInfo.surplusTime = (5-i).toString()
-            dataCallback.showTrafficLightInfo(trafficLightInfo)
+            dataCallback?.showTrafficLightInfo(trafficLightInfo)
             Thread.sleep(1000)
         }
         // 停5秒
@@ -144,7 +144,7 @@ object MockUtil {
         trafficLightInfo.lightStatus = "Y"
         for (i in 0..5) {
             trafficLightInfo.surplusTime = (5-i).toString()
-            dataCallback.showTrafficLightInfo(trafficLightInfo)
+            dataCallback?.showTrafficLightInfo(trafficLightInfo)
             Thread.sleep(1000)
         }
         // 停5秒
@@ -153,7 +153,7 @@ object MockUtil {
         trafficLightInfo.lightStatus = "G"
         for (i in 0..5) {
             trafficLightInfo.surplusTime = (5-i).toString()
-            dataCallback.showTrafficLightInfo(trafficLightInfo)
+            dataCallback?.showTrafficLightInfo(trafficLightInfo)
             Thread.sleep(1000)
         }
         Logger.d(TAG, "红绿灯模拟数据发送结束====")
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/ObuManager.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/ObuManager.kt
index cbdf5c3b90..b1d83003dc 100644
--- a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/ObuManager.kt
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/ObuManager.kt
@@ -1,136 +1,47 @@
 package com.zhidao.mogo.module.obu
 
 import android.content.Context
-import android.os.Bundle
-import android.os.Handler
-import android.os.Looper
-import android.os.Message
-import android.view.View
-import androidx.fragment.app.Fragment
-import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.commons.debug.DebugConfig
-import com.mogo.map.listener.IMogoMapListener
-import com.mogo.map.location.IMogoLocationListener
-import com.mogo.map.marker.IMogoMarkerClickListener
-import com.mogo.map.navi.IMogoNaviListener
-import com.mogo.service.MogoServicePaths
-import com.mogo.service.module.IMogoModuleLifecycle
-import com.mogo.service.obu.IMogoObuDataChangedListener
-import com.mogo.service.obu.IMogoObuManager
 import com.mogo.utils.logger.Logger
+import com.zhidao.mogo.module.obu.obu.CidiObu
+import com.zhidao.mogo.module.obu.obu.HualiObu
+import com.zhidao.mogo.module.obu.obu.IObu
+import com.zhidao.mogo.module.obu.obu.IObuCallback
 import com.zhidao.smartv2x.api.V2xController
-import com.zhidao.smartv2x.model.obu.CarEventInfo
-import com.zhidao.smartv2x.model.obu.CarLocationInfo
-import com.zhidao.smartv2x.model.obu.TrafficLightInfo
 
 /**
  * obu provider
  *
  * @author tongchenfei
  */
-@Route(path = MogoServicePaths.PATH_OBU)
-class ObuManager: IMogoObuManager,Handler.Callback {
+class ObuManager {
     companion object{
         const val TAG = "ObuManger"
-        const val MSG_MONITOR_OBU_STATUS = 1001
-        const val DEFAULT_MONITOR_TIME = 10_000L
     }
-    private var dataChangedListener: IMogoObuDataChangedListener? = null
 
-    private var handler = Handler(Looper.getMainLooper(), this)
+//    private var handler = Handler(Looper.getMainLooper(), this)
 
-    override fun init(context: Context) {
+    private lateinit var obu:IObu
+
+    fun init(context: Context) {
         Logger.d(TAG,"init=======")
         if (DebugConfig.isUseMockObuData()) {
-            MockUtil.init(context,this)
+            MockUtil.init(context)
         } else {
-            // 初始化sdk，注册数据回调等信息
-            V2xController.getInstance().setMessageReceiveListener(this)
-            V2xController.getInstance().init()
-//            V2xController.getInstance().setMessageReceiveListener(this@ObuManager)
-            handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
-        }
-    }
-
-    override fun registerObuDataChangedListener(listener: IMogoObuDataChangedListener?) {
-        this.dataChangedListener = listener
-    }
-
-    /**
-     * 车辆位置信息回调接口
-     */
-    override fun showCarLocationInfo(info: CarLocationInfo?) {
-        Logger.v(TAG, "thread: ${Thread.currentThread()} showCarLocationInfo: ${info?.carId}")
-        if(!DebugConfig.isUseMockObuData()) {
-            // 不使用模拟数据时候不做此处理
-            // 由于obu会频繁回调此接口，故10秒收不到此数据，则认为obu连接不正常，就断开重连一下
-            handler.removeMessages(MSG_MONITOR_OBU_STATUS)
-            handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
-        }
-
-        handler.post{
-            dataChangedListener?.showCarLocationInfo(info)
-        }
-    }
-
-    /**
-     * UDP 收发消息回调接口
-     */
-    override fun showOtherInfo(info: String?) {
-        Logger.d(TAG, "thread: ${Thread.currentThread()} showOtherInfo: $info")
-        handler.post{
-            dataChangedListener?.showOtherInfo(info)
-        }
-    }
-
-    /**
-     * 交通信号灯信息回调接口
-     * 17号路口红绿灯倒计时出现了，如果[TrafficLightInfo.lightStatus]为0，或者说，不为G/Y/R时，此条红绿灯数据无效
-     */
-    override fun showTrafficLightInfo(info: TrafficLightInfo?) {
-        Logger.d(TAG, "thread: ${Thread.currentThread()} showTrafficLightInfo: $info")
-        Logger.d(TAG, "isTrafficLightInfoValid: ${isTrafficLightInfoValid(info)}")
-        if(isTrafficLightInfoValid(info)) {
-            handler.post {
-                dataChangedListener?.showTrafficLightInfo(info)
+            obu = if(DebugConfig.getObuType() == DebugConfig.OBU_TYPE_CIDI){
+                CidiObu()
+            }else{
+                HualiObu()
             }
+            obu.init()
         }
     }
 
-    /**
-     * 判断红绿灯信息是否有效
-     *
-     * @return true 有效
-     */
-    private fun isTrafficLightInfoValid(info:TrafficLightInfo?):Boolean{
-        return info == null||(info.lightStatus=="G"||info.lightStatus=="Y"||info.lightStatus=="R")
-    }
-
-    /**
-     * 场景触发事件信息回调接口
-     */
-    override fun showCarEventInfo(info: CarEventInfo?) {
-        Logger.d(TAG, "thread: ${Thread.currentThread()} showCarEventInfo: ${info?.type}")
-        handler.post {
-            dataChangedListener?.showCarEventInfo(info)
+    fun registerObuDataChangedListener(listener: IObuCallback?) {
+        if (listener != null) {
+            obu.registerObuCallback(listener)
         }
     }
 
-    /**
-     * @param msg A [Message][android.os.Message] object
-     * @return True if no further handling is desired
-     */
-    override fun handleMessage(msg: Message?): Boolean {
-        if (msg?.what == MSG_MONITOR_OBU_STATUS) {
-            // obu未正常连接，需要重新连接
-            Logger.d(TAG,"obu未正常连接，需要重新连接")
-            V2xController.getInstance().release()
-            V2xController.getInstance().setMessageReceiveListener(this)
-            V2xController.getInstance().init()
-            handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
-//            V2xController.getInstance().release()
-            return true
-        }
-        return false
-    }
+
 }
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/BaseObu.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/BaseObu.kt
new file mode 100644
index 0000000000..aea1585daf
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/BaseObu.kt
@@ -0,0 +1,11 @@
+package com.zhidao.mogo.module.obu.obu
+
+open class BaseObu : IObu {
+    protected var callback: IObuCallback? = null
+    override fun init() {
+    }
+
+    override fun registerObuCallback(callback: IObuCallback) {
+        this.callback = callback
+    }
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/CidiObu.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/CidiObu.kt
new file mode 100644
index 0000000000..4ad82e0df4
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/CidiObu.kt
@@ -0,0 +1,123 @@
+package com.zhidao.mogo.module.obu.obu
+
+import android.os.Handler
+import android.os.Message
+import com.mogo.commons.debug.DebugConfig
+import com.mogo.utils.logger.Logger
+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.smartv2x.api.V2xController
+import com.zhidao.smartv2x.listener.OnMessageReceiveListener
+import com.zhidao.smartv2x.model.obu.CarEventInfo
+import com.zhidao.smartv2x.model.obu.CarLocationInfo
+import com.zhidao.smartv2x.model.obu.TrafficLightInfo
+
+/**
+ * 西迪obu
+ *
+ * @author tongchenfei
+ */
+class CidiObu : BaseObu(), Handler.Callback, OnMessageReceiveListener {
+    companion object {
+        const val TAG = "CidiObu"
+        const val MSG_MONITOR_OBU_STATUS = 1001
+        const val DEFAULT_MONITOR_TIME = 10_000L
+    }
+
+    private val handler = Handler(this)
+    override fun init() {
+        super.init()
+        // 初始化sdk，注册数据回调等信息
+        V2xController.getInstance().setMessageReceiveListener(this)
+        V2xController.getInstance().init()
+        handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
+    }
+
+    /**
+     * 车辆位置信息回调接口
+     */
+    override fun showCarLocationInfo(info: CarLocationInfo?) {
+        Logger.v(TAG, "thread: ${Thread.currentThread()} showCarLocationInfo: ${info?.carId}")
+        if (!DebugConfig.isUseMockObuData()) {
+            // 不使用模拟数据时候不做此处理
+            // 由于obu会频繁回调此接口，故10秒收不到此数据，则认为obu连接不正常，就断开重连一下
+            handler.removeMessages(MSG_MONITOR_OBU_STATUS)
+            handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
+        }
+
+        handler.post {
+            if (info == null) {
+                callback?.onLocationInfoCallback(null)
+            }else {
+                callback?.onLocationInfoCallback(MogoObuLocationInfo(info))
+            }
+        }
+    }
+
+    /**
+     * UDP 收发消息回调接口
+     */
+    override fun showOtherInfo(info: String?) {
+        Logger.d(TAG, "thread: ${Thread.currentThread()} showOtherInfo: $info")
+    }
+
+    /**
+     * 交通信号灯信息回调接口
+     * 17号路口红绿灯倒计时出现了，如果[TrafficLightInfo.lightStatus]为0，或者说，不为G/Y/R时，此条红绿灯数据无效
+     */
+    override fun showTrafficLightInfo(info: TrafficLightInfo?) {
+        Logger.d(TAG, "thread: ${Thread.currentThread()} showTrafficLightInfo: $info")
+        Logger.d(TAG, "isTrafficLightInfoValid: ${isTrafficLightInfoValid(info)}")
+        if (isTrafficLightInfoValid(info)) {
+            handler.post {
+                if (info == null) {
+                    callback?.onTrafficLightInfoCallback(null)
+                }else{
+                    callback?.onTrafficLightInfoCallback(MogoObuTrafficLightInfo(info))
+                }
+            }
+        }
+    }
+
+    /**
+     * 判断红绿灯信息是否有效
+     *
+     * @return true 有效
+     */
+    private fun isTrafficLightInfoValid(info: TrafficLightInfo?): Boolean {
+        return info == null || (info.lightStatus == "G" || info.lightStatus == "Y" || info.lightStatus == "R")
+    }
+
+    /**
+     * 场景触发事件信息回调接口
+     */
+    override fun showCarEventInfo(info: CarEventInfo?) {
+        Logger.d(TAG, "thread: ${Thread.currentThread()} showCarEventInfo: ${info?.type}")
+        handler.post {
+            if (info == null) {
+                callback?.onEventInfoCallback(null)
+            }else{
+                callback?.onEventInfoCallback(MogoObuEventInfo(info))
+            }
+        }
+    }
+
+    /**
+     * @param msg A [Message][android.os.Message] object
+     * @return True if no further handling is desired
+     */
+    override fun handleMessage(msg: Message?): Boolean {
+        if (msg?.what == MSG_MONITOR_OBU_STATUS) {
+            // obu未正常连接，需要重新连接
+            Logger.d(TAG, "obu未正常连接，需要重新连接")
+            V2xController.getInstance().release()
+            V2xController.getInstance().setMessageReceiveListener(this)
+            V2xController.getInstance().init()
+            handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
+//            V2xController.getInstance().release()
+            return true
+        }
+        return false
+    }
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/HualiObu.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/HualiObu.kt
new file mode 100644
index 0000000000..7c00dccc27
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/HualiObu.kt
@@ -0,0 +1,47 @@
+package com.zhidao.mogo.module.obu.obu
+
+import com.mogo.utils.logger.Logger
+import com.zhidao.mogo.module.obu.socket.IUdpSocketCallback
+import com.zhidao.mogo.module.obu.socket.UdpSocketManager
+import kotlin.concurrent.thread
+
+/**
+ * 华砺智行obu 苏州演示项目用到的
+ *
+ * @author tongchenfei
+ */
+class HualiObu : BaseObu(),IUdpSocketCallback {
+    private val socketManager = UdpSocketManager(this)
+    companion object{
+        const val TAG = "HualiObu"
+        const val IP_ADDRESS = "172.30.33.38"
+        const val PORT = 10005
+    }
+    override fun init() {
+        super.init()
+        socketManager.receiveMsgFrom(IP_ADDRESS, PORT)
+        socketManager.sendMsgTo("Hello ssokit", IP_ADDRESS, PORT)
+        Logger.d(TAG, "init")
+        thread {
+            var count = 0
+            while (true) {
+                Logger.d(TAG,"准备发送测试数据===")
+                socketManager.sendMsgTo("Hello ssokit===$count", IP_ADDRESS, PORT)
+                count++
+                Thread.sleep(1000)
+                if (count == 1000) {
+                    Logger.d(TAG, "测试数据结束")
+                    break
+                }
+            }
+        }
+    }
+
+    override fun onMessageReceived(msg: ByteArray) {
+        // todo 处理数据
+        val m = String(msg)
+        Logger.d(TAG, "onMessageReceived: $msg")
+
+    }
+
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObu.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObu.kt
new file mode 100644
index 0000000000..e0e350c9f0
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObu.kt
@@ -0,0 +1,17 @@
+package com.zhidao.mogo.module.obu.obu
+
+/**
+ * Obu基本方法
+ * @author tongchenfei
+ */
+interface IObu {
+    /**
+     * 初始化
+     */
+    fun init()
+
+    /**
+     * 注册数据回调
+     */
+    fun registerObuCallback(callback: IObuCallback)
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObuCallback.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObuCallback.kt
new file mode 100644
index 0000000000..7d670e7714
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObuCallback.kt
@@ -0,0 +1,30 @@
+package com.zhidao.mogo.module.obu.obu
+
+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
+
+/**
+ * obu数据回调，目前是根据西迪的数据进行的封装
+ *
+ * @author tongchenfei
+ */
+interface IObuCallback {
+    /**
+     * obu事件回调
+     * @param eventInfo 事件信息
+     */
+    fun onEventInfoCallback(eventInfo:MogoObuEventInfo?)
+
+    /**
+     * obu定位信息回调
+     * @param locationInfo 定位信息
+     */
+    fun onLocationInfoCallback(locationInfo: MogoObuLocationInfo?)
+
+    /**
+     * obu红绿灯信息回调
+     * @param trafficLightInfo 红绿灯信息
+     */
+    fun onTrafficLightInfoCallback(trafficLightInfo: MogoObuTrafficLightInfo?)
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuEventInfo.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuEventInfo.kt
new file mode 100644
index 0000000000..0ff33809eb
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuEventInfo.kt
@@ -0,0 +1,24 @@
+package com.zhidao.mogo.module.obu.obu.bean
+
+import com.zhidao.smartv2x.model.obu.CarEventInfo
+
+/**
+ * obu事件数据封装，根据西迪obu数据进行整理
+ *
+ * {"typeCode":"01","type":"前碰撞预警","describe":"等级:1"}
+ */
+class MogoObuEventInfo(){
+    var typeCode:String? = null
+    var type:String? = null
+    var describe:String? = null
+    override fun toString(): String {
+        return "MogoObuEventInfo(typeCode=$typeCode, type=$type, describe=$describe)"
+    }
+
+    constructor(info:CarEventInfo):this(){
+        this.typeCode = info.typeCode
+        this.type = info.type
+        this.describe = info.describe
+    }
+
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuLocationInfo.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuLocationInfo.kt
new file mode 100644
index 0000000000..878e139abb
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuLocationInfo.kt
@@ -0,0 +1,32 @@
+package com.zhidao.mogo.module.obu.obu.bean
+
+import com.zhidao.smartv2x.model.obu.CarLocationInfo
+
+/**
+ * obu定位信息，根据西迪obu进行封装
+ * {"carId":"1952999795","lat":28.089524299999997,"lng":112.9908293,"speed":"14"," direction":"10112","sateNum":"24","signal":"0"}
+ * @author tongchenfei
+ */
+class MogoObuLocationInfo() {
+    var carId: String? = null
+    var lat: Double? = 0.0
+    var lon: Double? = 0.0
+    var speed: String? = null
+    var direction: String? = null
+    var sateNum: String? = null
+    var signal: String? = null
+    override fun toString(): String {
+        return "MogoObuLocationInfo(lat=$lat)"
+    }
+
+    constructor(info:CarLocationInfo?) : this() {
+        this.carId = info?.carId
+        this.lat = info?.lat
+        this.lon = info?.lng
+        this.speed = info?.speed
+        this.direction = info?.direction
+        this.sateNum = info?.sateNum
+        this.signal = info?.signal
+    }
+
+}
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuTrafficLightInfo.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuTrafficLightInfo.kt
new file mode 100644
index 0000000000..33437fedd1
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuTrafficLightInfo.kt
@@ -0,0 +1,29 @@
+package com.zhidao.mogo.module.obu.obu.bean
+
+import com.zhidao.smartv2x.model.obu.TrafficLightInfo
+
+/**
+ * obu信号灯数据，根据西迪obu进行封装
+ * lightStatus:信号灯的当前状态 G/R/Y 分别对应 绿/红/黄
+ * surplusTime:当前信号灯剩余时间 十进制 单位:秒
+ * lightPriority:保留字段，暂无说明
+ *
+ * @author tongchenfei
+ */
+class MogoObuTrafficLightInfo(){
+    var id:String? =null
+    var lightStatus:String? =null
+    var surplusTime:String? =null
+    var lightPriority:String? =null
+    override fun toString(): String {
+        return "MogoObuTrafficLightInfo(id=$id, lightStatus=$lightStatus, surplusTime=$surplusTime, lightPriority=$lightPriority)"
+    }
+
+    constructor(info:TrafficLightInfo):this(){
+        this.id = info.id
+        this.lightStatus = info.lightStatus
+        this.surplusTime = info.surplusTime
+        this.lightPriority = info.lightPriority
+    }
+
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/IUdpSocketCallback.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/IUdpSocketCallback.kt
new file mode 100644
index 0000000000..80a17f4890
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/IUdpSocketCallback.kt
@@ -0,0 +1,13 @@
+package com.zhidao.mogo.module.obu.socket
+
+/**
+ * udp 数据回调
+ */
+interface IUdpSocketCallback {
+    /**
+     * udp过来的字节码数据，目前已知数据类型就是ByteArray
+     *
+     * @param msg udp发过来的数据
+     */
+    fun onMessageReceived(msg: ByteArray)
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/SimpleAddress.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/SimpleAddress.kt
new file mode 100644
index 0000000000..73c91b03a2
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/SimpleAddress.kt
@@ -0,0 +1,20 @@
+package com.zhidao.mogo.module.obu.socket
+
+class SimpleAddress(val ip: String, val port: Int) {
+    override fun equals(other: Any?): Boolean {
+        return when (other) {
+            is SimpleAddress -> other.ip == ip && port == port
+            null -> false
+            else -> false
+        }
+    }
+
+    override fun hashCode(): Int {
+        return ip.hashCode() + port.hashCode()
+    }
+
+    override fun toString(): String {
+        return "SimpleAddress(ip='$ip', port=$port)"
+    }
+
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/UdpSocketManager.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/UdpSocketManager.kt
new file mode 100644
index 0000000000..8d9db6b476
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/UdpSocketManager.kt
@@ -0,0 +1,78 @@
+package com.zhidao.mogo.module.obu.socket
+
+import android.util.ArrayMap
+import com.mogo.utils.logger.Logger
+import java.net.DatagramPacket
+import java.net.DatagramSocket
+import java.net.InetAddress
+import java.util.concurrent.Executors
+
+/**
+ * udp socket 管理类，统一管理udp socket数据接收和发送
+ */
+class UdpSocketManager(private val callback: IUdpSocketCallback? = null) {
+    companion object{
+        const val TAG = "Mogo-UdpSocketManager"
+    }
+    private val socketMap = ArrayMap<SimpleAddress, DatagramSocket>()
+    private val socketExecutor = Executors.newCachedThreadPool()
+
+    @Volatile private var isConnected = false
+
+    fun sendMsgTo(msg:String,ip: String, port: Int) {
+        isConnected = true
+        val address = SimpleAddress(ip, port)
+        socketExecutor.execute(UdpSenderRunnable(address, msg))
+    }
+
+    fun receiveMsgFrom(ip: String, port: Int) {
+        isConnected = true
+        val address = SimpleAddress(ip, port)
+        socketExecutor.execute(UdpReceiverRunnable(address))
+    }
+
+    fun release(){
+        isConnected = false
+        socketMap.forEach {
+            it.value.close()
+        }
+    }
+
+    inner class UdpSenderRunnable(private val address: SimpleAddress,private val msg:String):Runnable{
+        override fun run() {
+            Logger.d(TAG, "${address}准备发送消息: $msg")
+            var socket = socketMap[address]
+            val netAddress = InetAddress.getByName(address.ip)
+            if (socket == null) {
+                socket = DatagramSocket(address.port)
+                socketMap[address] = socket
+            }
+            socket.send(DatagramPacket(msg.toByteArray(), msg.toByteArray().size, netAddress, address.port))
+        }
+    }
+    inner class UdpReceiverRunnable(private val address:SimpleAddress):Runnable{
+        override fun run() {
+            var socket = socketMap[address]
+            Logger.d(TAG, "init receiver: $address")
+
+            if (socket == null) {
+                socket = DatagramSocket(address.port)
+                socketMap[address] = socket
+            }
+            val buffer = ByteArray(1024)
+            val packet = DatagramPacket(buffer, buffer.size)
+            while (isConnected){
+                if(socket.isClosed){
+                    break
+                }
+                Logger.d(TAG,"准备接受消息====$address")
+                socket.receive(packet)
+                val msg = ByteArray(buffer.size)
+                System.arraycopy(buffer, 0, msg, 0, buffer.size)
+                callback?.onMessageReceived(msg)
+            }
+        }
+
+    }
+
+}
\ No newline at end of file
diff --git a/modules/mogo-module-v2x/build.gradle b/modules/mogo-module-v2x/build.gradle
index 1c8bc102ab..ffae59b062 100644
--- a/modules/mogo-module-v2x/build.gradle
+++ b/modules/mogo-module-v2x/build.gradle
@@ -90,8 +90,7 @@ dependencies {
     testImplementation 'junit:junit:4.13'
     androidTestImplementation 'androidx.test.ext:junit:1.1.1'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.2.0'
-
-    compileOnly project(':modules:mogo-module-obu')
+    implementation project(':modules:mogo-module-obu')
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java
index 53e7e403d2..faab05206b 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java
@@ -136,7 +136,7 @@ public class V2XModuleProvider implements
         localBroadcastManager.registerReceiver(localReceiver, intentFilter);
 
         // obu数据转发初始化
-        V2XObuManager.getInstance().init();
+        V2XObuManager.getInstance().init(context);
     }
 
     private void initBiz(Context context) {
diff --git 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
index f926bde319..2929404f97 100644
--- 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
@@ -1,5 +1,6 @@
 package com.mogo.module.v2x;
 
+import android.content.Context;
 import android.content.Intent;
 import android.os.Handler;
 import android.os.Message;
@@ -17,13 +18,15 @@ import com.mogo.module.v2x.scenario.scene.obu.V2XObuEventScenario;
 import com.mogo.module.v2x.utils.ADASUtils;
 import com.mogo.module.v2x.utils.DrivingDirectionUtils;
 import com.mogo.module.v2x.utils.ObuConfig;
-import com.mogo.service.obu.IMogoObuDataChangedListener;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.mogo.module.obu.ObuConstant;
-import com.zhidao.smartv2x.model.obu.CarEventInfo;
-import com.zhidao.smartv2x.model.obu.CarLocationInfo;
-import com.zhidao.smartv2x.model.obu.TrafficLightInfo;
+import com.zhidao.mogo.module.obu.ObuManager;
+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 org.jetbrains.annotations.NotNull;
 import org.json.JSONObject;
 
 import java.util.Map;
@@ -36,7 +39,7 @@ import static com.mogo.module.v2x.scenario.scene.obu.V2XObuEventScenario.ACTION_
  *
  * @author tongchenfei
  */
-public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callback {
+public class V2XObuManager implements IObuCallback, Handler.Callback {
     private static final String TAG = V2XObuManager.class.getSimpleName();
 
     private static final long DEFAULT_INTERVAL_TIME = 30_000L;
@@ -61,9 +64,11 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
     private static final long DEFAULT_HIDE_TRAFFIC_LIGHT_DELAY = 1500L;
     private Handler handler = new Handler(this);
 
-    public void init() {
+    public void init(Context context) {
         Logger.d(MODULE_NAME, "obuManager初始化--");
-        V2XServiceManager.getMogoRegisterCenter().registerObuDataListener(MODULE_NAME, this);
+        ObuManager obuManager = new ObuManager();
+        obuManager.init(context);
+        obuManager.registerObuDataChangedListener(this);
     }
 
     /**
@@ -71,133 +76,6 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
      */
     private Map<String, Long> intervalMap = new ArrayMap<>();
 
-    /**
-     * 车辆位置信息回调接口
-     *
-     * @param info 位置信息
-     */
-    @Override
-    public void showCarLocationInfo(CarLocationInfo info) {
-        if (ObuConfig.useObuLocation) {
-            MogoLocation currentLocation = new MogoLocation();
-
-            CoordinateConverter converter = new CoordinateConverter(V2XServiceManager.getContext());
-            converter.from(CoordinateConverter.CoordType.GPS);
-            LatLng latLng = new LatLng(info.lat, info.lng);
-            converter.coord(latLng);
-            LatLng convert = converter.convert();
-
-            currentLocation.setLatitude(convert.latitude);
-            currentLocation.setLongitude(convert.longitude);
-            currentLocation.setBearing(computeCarAngle(currentLocation));
-
-            V2XObuEventScenario.getInstance().updateLocation(currentLocation);
-        }
-    }
-
-    /**
-     * UDP 收发消息回调接口
-     *
-     * @param info 消息回调
-     */
-    @Override
-    public void showOtherInfo(String info) {
-
-    }
-
-    /**
-     * 交通信号灯信息回调接口
-     *
-     * @param info 信号灯信息
-     */
-    @Override
-    public void showTrafficLightInfo(TrafficLightInfo info) {
-        handler.removeMessages(MSG_HIDE_TRAFFIC_LIGHT);
-        if (info == null) {
-            Logger.d("V2X_OBU_EVENT", "红绿灯数据为空===");
-            sendTrafficLightStatusToAdas(CALL_ADAS_HIDE_TRAFFIC_LIGHT, null);
-        } else {
-            Logger.d("V2X_OBU_EVENT", "红绿灯数据==" + info);
-            handler.sendEmptyMessageDelayed(MSG_HIDE_TRAFFIC_LIGHT, DEFAULT_HIDE_TRAFFIC_LIGHT_DELAY);
-            sendTrafficLightStatusToAdas(CALL_ADAS_SHOW_TRAFFIC_LIGHT, info);
-        }
-    }
-
-    /**
-     * 场景触发事件信息回调接口
-     *
-     * @param info 场景触发事件信息
-     */
-    @Override
-    public void showCarEventInfo(CarEventInfo info) {
-        Logger.d("V2X_OBU_EVENT", "carEventInfo==" + info);
-        Long last = intervalMap.get(info.typeCode);
-        if (last == null) {
-            last = 0L;
-        }
-        int eventType = parseObuEvent(info.typeCode);
-        if (eventType == ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY) {
-            // 加一个容错机制，如果已经驶过绿波车速路口，那么再收到绿波车速obu事件，就不再上报
-            MogoLocation currentLocation = V2XLocationListener.getInstance().getLastCarLocation();
-            double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
-                    currentLocation.getLongitude(),
-                    currentLocation.getLatitude(),
-                    V2XObuEventScenario.getInstance().getOptimalCrossing().getLon(),
-                    V2XObuEventScenario.getInstance().getOptimalCrossing().getLat(),
-                    (int) currentLocation.getBearing()
-            );
-            if (0 > eventAngle || eventAngle > 20) {
-                Logger.e(MODULE_NAME, "超出绿波引导点范围，不处理此次事件===" + eventAngle);
-                return;
-            }
-        }
-        if (SystemClock.elapsedRealtime() - last > DEFAULT_INTERVAL_TIME) {
-            // 距离上次记录超过三十秒，继续相关逻辑，如果不超过三十秒，忽略此次事件
-            intervalMap.put(info.typeCode, SystemClock.elapsedRealtime());
-            V2XMessageEntity<V2XObuEventEntity> messageEntity = new V2XMessageEntity<>();
-            messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_OBU_EVENT);
-            switch (eventType) {
-                case ObuConstant
-                        .TYPE_OPTIMAL_SPEED_ADVISORY:
-                    // 绿波车速引导
-                    V2XObuEventEntity optimalEvent = new V2XObuEventEntity();
-                    optimalEvent.setType(ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY);
-                    optimalEvent.setDesc(info.describe);
-                    messageEntity.setContent(optimalEvent);
-                    V2XObuEventScenario.getInstance().init(messageEntity);
-                    break;
-                case ObuConstant.TYPE_URGENCY_COLLISION_WARNING:
-                    // 前车紧急制动预警
-                    V2XObuEventEntity urgencyEvent = new V2XObuEventEntity();
-                    urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING);
-                    urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT);
-                    messageEntity.setContent(urgencyEvent);
-                    V2XObuEventScenario.getInstance().init(messageEntity);
-                    break;
-                case ObuConstant.TYPE_ROAD_USER_COLLISION_WARNING:
-                    // 行人预警，给adas发送广播即可
-                    V2XPushMessageEntity entity = new V2XPushMessageEntity();
-                    // 盲区行人预警的sceneId-100003
-                    entity.setSceneId("100003");
-                    entity.setTts("前方行人，注意减速");
-                    entity.setExpireTime(30_000);
-                    entity.setAlarmContent("前方行人，注意减速");
-                    ADASUtils.broadcastToADAS(V2XServiceManager.getContext(), entity);
-                    break;
-                case ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP:
-                    // vip变灯提醒
-                    V2XObuEventEntity changeLightEvent = new V2XObuEventEntity();
-                    changeLightEvent.setType(ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP);
-                    changeLightEvent.setDesc(info.describe);
-                    messageEntity.setContent(changeLightEvent);
-                    V2XObuEventScenario.getInstance().init(messageEntity);
-                    break;
-                default:
-                    break;
-            }
-        }
-    }
-
     private int parseObuEvent(String type) {
         switch (type) {
             case "06":
@@ -240,7 +118,7 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
     private static final String CALL_ADAS_SHOW_TRAFFIC_LIGHT = "2";
     private static final String CALL_ADAS_HIDE_TRAFFIC_LIGHT = "1";
 
-    private void sendTrafficLightStatusToAdas(String status, TrafficLightInfo trafficLightInfo) {
+    private void sendTrafficLightStatusToAdas(String status, MogoObuTrafficLightInfo trafficLightInfo) {
         if (V2XObuEventScenario.getInstance().isInChangeLightForVip()) {
             status = CALL_ADAS_HIDE_TRAFFIC_LIGHT;
         }
@@ -250,15 +128,15 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
             // String action "1" - 隐藏  "2" - 显示
             json.put("action", status);
             if (trafficLightInfo != null) {
-                if (trafficLightInfo.lightStatus == null) {
+                if (trafficLightInfo.getLightStatus() == null) {
                     json.put("lightStatus", "G");
                 } else {
-                    json.put("lightStatus", trafficLightInfo.lightStatus);
+                    json.put("lightStatus", trafficLightInfo.getLightStatus());
                 }
-                if (trafficLightInfo.surplusTime == null) {
+                if (trafficLightInfo.getSurplusTime() == null) {
                     json.put("surplusTime", "0");
                 } else {
-                    json.put("surplusTime", trafficLightInfo.surplusTime);
+                    json.put("surplusTime", trafficLightInfo.getSurplusTime());
                 }
             }
             String data = json.toString();
@@ -280,4 +158,107 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
         }
         return false;
     }
+
+    @Override
+    public void onEventInfoCallback(MogoObuEventInfo info) {
+        Logger.d("V2X_OBU_EVENT", "carEventInfo==" + info);
+        Long last = intervalMap.get(info.getTypeCode());
+        if (last == null) {
+            last = 0L;
+        }
+        int eventType = parseObuEvent(info.getTypeCode());
+        if (eventType == ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY) {
+            // 加一个容错机制，如果已经驶过绿波车速路口，那么再收到绿波车速obu事件，就不再上报
+            MogoLocation currentLocation = V2XLocationListener.getInstance().getLastCarLocation();
+            double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
+                    currentLocation.getLongitude(),
+                    currentLocation.getLatitude(),
+                    V2XObuEventScenario.getInstance().getOptimalCrossing().getLon(),
+                    V2XObuEventScenario.getInstance().getOptimalCrossing().getLat(),
+                    (int) currentLocation.getBearing()
+            );
+            if (0 > eventAngle || eventAngle > 20) {
+                Logger.e(MODULE_NAME, "超出绿波引导点范围，不处理此次事件===" + eventAngle);
+                return;
+            }
+        }
+        if (SystemClock.elapsedRealtime() - last > DEFAULT_INTERVAL_TIME) {
+            // 距离上次记录超过三十秒，继续相关逻辑，如果不超过三十秒，忽略此次事件
+            intervalMap.put(info.getTypeCode(), SystemClock.elapsedRealtime());
+            V2XMessageEntity<V2XObuEventEntity> messageEntity = new V2XMessageEntity<>();
+            messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_OBU_EVENT);
+            switch (eventType) {
+                case ObuConstant
+                        .TYPE_OPTIMAL_SPEED_ADVISORY:
+                    // 绿波车速引导
+                    V2XObuEventEntity optimalEvent = new V2XObuEventEntity();
+                    optimalEvent.setType(ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY);
+                    optimalEvent.setDesc(info.getDescribe());
+                    messageEntity.setContent(optimalEvent);
+                    V2XObuEventScenario.getInstance().init(messageEntity);
+                    break;
+                case ObuConstant.TYPE_URGENCY_COLLISION_WARNING:
+                    // 前车紧急制动预警
+                    V2XObuEventEntity urgencyEvent = new V2XObuEventEntity();
+                    urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING);
+                    urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT);
+                    messageEntity.setContent(urgencyEvent);
+                    V2XObuEventScenario.getInstance().init(messageEntity);
+                    break;
+                case ObuConstant.TYPE_ROAD_USER_COLLISION_WARNING:
+                    // 行人预警，给adas发送广播即可
+                    V2XPushMessageEntity entity = new V2XPushMessageEntity();
+                    // 盲区行人预警的sceneId-100003
+                    entity.setSceneId("100003");
+                    entity.setTts("前方行人，注意减速");
+                    entity.setExpireTime(30_000);
+                    entity.setAlarmContent("前方行人，注意减速");
+                    ADASUtils.broadcastToADAS(V2XServiceManager.getContext(), entity);
+                    break;
+                case ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP:
+                    // vip变灯提醒
+                    V2XObuEventEntity changeLightEvent = new V2XObuEventEntity();
+                    changeLightEvent.setType(ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP);
+                    changeLightEvent.setDesc(info.getDescribe());
+                    messageEntity.setContent(changeLightEvent);
+                    V2XObuEventScenario.getInstance().init(messageEntity);
+                    break;
+                default:
+                    break;
+            }
+        }
+    }
+
+    @Override
+    public void onLocationInfoCallback( MogoObuLocationInfo locationInfo) {
+        if (ObuConfig.useObuLocation) {
+            MogoLocation currentLocation = new MogoLocation();
+
+            CoordinateConverter converter = new CoordinateConverter(V2XServiceManager.getContext());
+            converter.from(CoordinateConverter.CoordType.GPS);
+            LatLng latLng = new LatLng(locationInfo.getLat(), locationInfo.getLon());
+            converter.coord(latLng);
+            LatLng convert = converter.convert();
+
+            currentLocation.setLatitude(convert.latitude);
+            currentLocation.setLongitude(convert.longitude);
+            currentLocation.setBearing(computeCarAngle(currentLocation));
+
+            V2XObuEventScenario.getInstance().updateLocation(currentLocation);
+        }
+    }
+
+    @Override
+    public void onTrafficLightInfoCallback(MogoObuTrafficLightInfo trafficLightInfo) {
+        handler.removeMessages(MSG_HIDE_TRAFFIC_LIGHT);
+        if (trafficLightInfo == null) {
+            Logger.d("V2X_OBU_EVENT", "红绿灯数据为空===");
+            sendTrafficLightStatusToAdas(CALL_ADAS_HIDE_TRAFFIC_LIGHT, null);
+        } else {
+            Logger.d("V2X_OBU_EVENT", "红绿灯数据==" + trafficLightInfo);
+            handler.sendEmptyMessageDelayed(MSG_HIDE_TRAFFIC_LIGHT,
+                    DEFAULT_HIDE_TRAFFIC_LIGHT_DELAY);
+            sendTrafficLightStatusToAdas(CALL_ADAS_SHOW_TRAFFIC_LIGHT, trafficLightInfo);
+        }
+    }
 }
diff --git 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
index 9471a13343..c47e012467 100644
--- 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
@@ -6,8 +6,6 @@ import android.os.Handler;
 import android.os.Looper;
 import android.os.Message;
 
-import androidx.annotation.Nullable;
-
 import com.mogo.commons.voice.AIAssist;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.location.MogoLocation;
@@ -23,13 +21,15 @@ import com.mogo.module.v2x.scenario.impl.AbsV2XScenario;
 import com.mogo.module.v2x.utils.DrivingDirectionUtils;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.mogo.module.obu.ObuConstant;
-import com.zhidao.smartv2x.model.obu.CarEventInfo;
+import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo;
 
 import org.json.JSONObject;
 
 import java.util.Arrays;
 import java.util.List;
 
+import androidx.annotation.Nullable;
+
 import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
 
 /**
@@ -99,7 +99,7 @@ public class V2XObuEventScenario extends AbsV2XScenario<V2XObuEventEntity> imple
         } else if (v2XMessageEntity.getContent().getType() == ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP) {
             // vip变灯提醒
             isInChangeLightForVip = true;
-            V2XObuManager.getInstance().showTrafficLightInfo(null);
+            V2XObuManager.getInstance().onTrafficLightInfoCallback(null);
 
             if (optimalSpeedMarker == null) {
                 optimalSpeedMarker = new OptimalSpeedMarker();
@@ -267,11 +267,11 @@ public class V2XObuEventScenario extends AbsV2XScenario<V2XObuEventEntity> imple
                 //距离小于DEFAULT_VIP_CROSSING_DISTANCE，且夹角在0~20（说明在前方），则触发vip通行
                 defaultTarget = crossing;
                 handler.post(() -> {
-                    CarEventInfo eventInfo = new CarEventInfo();
-                    eventInfo.type = "vip变灯提醒";
-                    eventInfo.typeCode = "vip变灯提醒";
-                    eventInfo.describe = "将为您变灯，vip车辆可优先通行";
-                    V2XObuManager.getInstance().showCarEventInfo(eventInfo);
+                    MogoObuEventInfo eventInfo = new MogoObuEventInfo();
+                    eventInfo.setType("vip变灯提醒");
+                    eventInfo.setTypeCode("vip变灯提醒");
+                    eventInfo.setDescribe("将为您变灯，vip车辆可优先通行");
+                    V2XObuManager.getInstance().onEventInfoCallback(eventInfo);
                 });
                 break;
             }
diff --git a/services/mogo-service-api/build.gradle b/services/mogo-service-api/build.gradle
index 7ea6b1bb2b..5b85a74290 100644
--- a/services/mogo-service-api/build.gradle
+++ b/services/mogo-service-api/build.gradle
@@ -41,7 +41,6 @@ dependencies {
     implementation rootProject.ext.dependencies.arouter
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
     api rootProject.ext.dependencies.fresco
-    api rootProject.ext.dependencies.obusdk
     api 'com.mogo.module:module-crash-warning:1.1.0'
     if (Boolean.valueOf(RELEASE)) {
         api rootProject.ext.dependencies.mogomapapi
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/IMogoServiceApis.java b/services/mogo-service-api/src/main/java/com/mogo/service/IMogoServiceApis.java
index 570c78c7aa..c542925842 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/IMogoServiceApis.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/IMogoServiceApis.java
@@ -26,7 +26,6 @@ import com.mogo.service.module.IMogoSettingManager;
 import com.mogo.service.monitor.IMogoMonitorProvider;
 import com.mogo.service.network.IMogoNetwork;
 import com.mogo.service.obu.IMogoCrashWarnProvider;
-import com.mogo.service.obu.IMogoObuManager;
 import com.mogo.service.passport.IMogoPassportManager;
 import com.mogo.service.share.IMogoShareManager;
 import com.mogo.service.statusmanager.IMogoMsgCenter;
@@ -215,13 +214,6 @@ public interface IMogoServiceApis extends IProvider {
      */
     IMogoShareManager getShareManager();
 
-    /**
-     * 获取obuManager
-     *
-     * @return obuManager
-     */
-    IMogoObuManager getObuManager();
-
     /**
      * 获取事件面板manager
      *
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/module/IMogoRegisterCenter.java b/services/mogo-service-api/src/main/java/com/mogo/service/module/IMogoRegisterCenter.java
index 2f9700cdc5..ce78bdb253 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/module/IMogoRegisterCenter.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/module/IMogoRegisterCenter.java
@@ -8,7 +8,6 @@ import com.mogo.map.navi.IMogoAimlessModeListener;
 import com.mogo.map.navi.IMogoCarLocationChangedListener;
 import com.mogo.map.navi.IMogoNaviListener;
 import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
-import com.mogo.service.obu.IMogoObuDataChangedListener;
 
 import java.util.Iterator;
 
@@ -138,19 +137,6 @@ public interface IMogoRegisterCenter extends IProvider {
      */
     void unregisterCarLocationChangedListener( String tag, IMogoCarLocationChangedListener listener );
 
-    /**
-     * 注册obu数据变化监听
-     * @param tag 模块tag，目前没有实际作用，只用于解注册时的tag选择
-     * @param listener 回调监听
-     */
-    void registerObuDataListener(String tag, IMogoObuDataChangedListener listener);
-
-    /**
-     * 注销obu数据变化监听
-     * @param tag 传入与注册时相同的tag
-     */
-    void unregisterObuDataListener(String tag);
-
     /**
      * adas 控制状态变更监听
      * @param tag
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/obu/IMogoObuDataChangedListener.java b/services/mogo-service-api/src/main/java/com/mogo/service/obu/IMogoObuDataChangedListener.java
deleted file mode 100644
index ff3ad42b57..0000000000
--- a/services/mogo-service-api/src/main/java/com/mogo/service/obu/IMogoObuDataChangedListener.java
+++ /dev/null
@@ -1,39 +0,0 @@
-package com.mogo.service.obu;
-
-import com.zhidao.smartv2x.model.obu.CarEventInfo;
-import com.zhidao.smartv2x.model.obu.CarLocationInfo;
-import com.zhidao.smartv2x.model.obu.TrafficLightInfo;
-
-/**
- * obu数据改变的回调
- *
- * @author tongchenfei
- */
-public interface IMogoObuDataChangedListener {
-    /**
-     * 车辆位置信息回调接口
-     * @param info 位置信息
-     */
-    void showCarLocationInfo(CarLocationInfo info);
-
-    /**
-     * UDP 收发消息回调接口
-     *
-     * @param info 消息回调
-     */
-    void showOtherInfo(String info);
-
-    /**
-     * 交通信号灯信息回调接口
-     *
-     * @param info 信号灯信息
-     */
-    void showTrafficLightInfo(TrafficLightInfo info);
-
-    /**
-     * 场景触发事件信息回调接口
-     *
-     * @param info 场景触发事件信息
-     */
-    void showCarEventInfo(CarEventInfo info);
-}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/obu/IMogoObuManager.java b/services/mogo-service-api/src/main/java/com/mogo/service/obu/IMogoObuManager.java
deleted file mode 100644
index 9bbfba60d3..0000000000
--- a/services/mogo-service-api/src/main/java/com/mogo/service/obu/IMogoObuManager.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.mogo.service.obu;
-
-import com.alibaba.android.arouter.facade.template.IProvider;
-import com.zhidao.smartv2x.listener.OnMessageReceiveListener;
-
-/**
- * obu事件管理器
- * @author tongchenfei
- */
-public interface IMogoObuManager extends IProvider, OnMessageReceiveListener{
-    void registerObuDataChangedListener(IMogoObuDataChangedListener listener);
-}
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/MogoServiceApis.java b/services/mogo-service/src/main/java/com/mogo/service/impl/MogoServiceApis.java
index c904124ff6..d98c650ad2 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/MogoServiceApis.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/MogoServiceApis.java
@@ -34,7 +34,6 @@ import com.mogo.service.module.IMogoSettingManager;
 import com.mogo.service.monitor.IMogoMonitorProvider;
 import com.mogo.service.network.IMogoNetwork;
 import com.mogo.service.obu.IMogoCrashWarnProvider;
-import com.mogo.service.obu.IMogoObuManager;
 import com.mogo.service.passport.IMogoPassportManager;
 import com.mogo.service.share.IMogoShareManager;
 import com.mogo.service.statusmanager.IMogoMsgCenter;
@@ -45,7 +44,6 @@ import com.mogo.service.tanlu.IMogoTanluUiProvider;
 import com.mogo.service.windowview.IMogoTopViewManager;
 import com.mogo.service.windowview.IMogoWindowManager;
 import com.mogo.skin.support.IMogoSkinSupportInstaller;
-import com.mogo.skin.support.MogoSkinManager;
 import com.mogo.skin.support.SkinSupportInstallerConstants;
 import com.mogo.utils.logger.Logger;
 
@@ -188,11 +186,6 @@ public class MogoServiceApis implements IMogoServiceApis {
         return getApiInstance( IMogoShareManager.class, MogoServicePaths.PATH_SHARE );
     }
 
-    @Override
-    public IMogoObuManager getObuManager() {
-        return getApiInstance( IMogoObuManager.class, MogoServicePaths.PATH_OBU );
-    }
-
     @Override
     public IEventPanelProvider getEventPanelManager() {
         return getApiInstance( IEventPanelProvider.class, MogoServicePaths.PATH_EVENT_PANEL );