Merge branch 'dev_arch_opt_3.0' into dev_robosweeper-d_app-module_221230_1.1.0

# Conflicts: # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficLightView.kt
2023-02-01 19:41:41 +08:00
parent acd1b3b584 8be6c14004
commit fdecd41783
206 changed files with 3587 additions and 2293 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -51,10 +51,14 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListener
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager.invokeAutopilotTrajectory
 import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
 import com.mogo.eagle.core.function.call.obucombine.CallerObuDcCombineListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhidao.support.adas.high.bean.AutopilotAbility
@@ -130,7 +134,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
            paramIndexes = [0, 1],
            clientPkFileName = "sn"
    )
-    override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo?) {
+    override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
        // WGS84坐标系高精度位置信息
        invokeChassisLocationWGS84(gnssInfo)
        // GCJ02高德坐标系位置信息
@@ -537,6 +541,44 @@ class MoGoAdasListenerImpl : OnAdasListener {
        CallerObuDcCombineListenerManager.invokeObuDcData(obuWarningData)
    }

+    /**
+     * OBU 红绿灯预警信息
+     *
+     * @param header          头
+     * @param spatWarningData 数据
+     */
+    override fun onoObuSpatWarning(header: MessagePad.Header?, spatWarningData: ObuScene.SpatWarningData?) {
+        CallerObuWarningSpatListenerManager.invokeObuSpatWarning(spatWarningData!!)
+    }
+    /**
+     * OBU RSI预警信息
+     *
+     * @param header         头
+     * @param rsiWarningData 数据
+     */
+    override fun onoObuRsiWarning(header: MessagePad.Header?, rsiWarningData: ObuScene.RsiWarningData?) {
+        CallerObuWarningRsiListenerManager.invokeObuRsiWarning(rsiWarningData!!)
+    }
+
+    /**
+     * OBU RSM预警信息
+     *
+     * @param header         头
+     * @param rsmWarningData 数据
+     */
+    override fun onoObuRsmWarning(header: MessagePad.Header?, rsmWarningData: ObuScene.RsmWarningData?) {
+        CallerObuWarningRsmListenerManager.invokeObuRsmWarning(rsmWarningData!!)
+    }
+    /**
+     * OBU 地图匹配结果
+     *
+     * @param header       头
+     * @param mapMatchData 数据
+     */
+    override fun onoObuObuMapMath(header: MessagePad.Header?, mapMatchData: ObuScene.MapMatchData?) {
+        CallerObuMapMathListenerManager.invokeObuMapMath(mapMatchData!!)
+    }
+
    /**
     * 重构后的功能状态
     *
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/IMoGoLocationListener.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/IMoGoLocationListener.kt
@@ -0,0 +1,16 @@
+package com.mogo.eagle.core.function.datacenter.location
+
+import com.mogo.eagle.core.data.enums.DataSourceType
+import mogo.telematics.pad.MessagePad
+
+/**
+ * 位置回调监听
+ */
+interface IMoGoLocationListener {
+    /**
+     * 位置改变回调用
+     * @param gnssInfo 位置信息
+     * @param sourceType 数据来源
+     */
+    fun onLocationChanged(gnssInfo: MessagePad.GnssInfo, sourceType: DataSourceType)
+}
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt
@@ -0,0 +1,71 @@
+package com.mogo.eagle.core.function.datacenter.location
+
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.function.api.obu.IMoGoObuLocationWGS84Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.base.CallerBase
+import com.mogo.eagle.core.utilcode.util.TimeUtils
+import com.mogo.support.obu.model.MogoObuHvBasicsData
+import mogo.telematics.pad.MessagePad
+
+/**
+ * 融合定位服务，这里同时监听多来源的位置信息，并支持修改频率
+ *
+ * @author donghongyu
+ */
+object MoGoLocationManager :
+    CallerBase<IMoGoLocationListener>(),
+    IMoGoChassisLocationWGS84Listener,
+    IMoGoObuLocationWGS84Listener {
+
+    private val TAG = "MoGoLocationManager"
+
+    init {
+        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
+    }
+
+    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+        M_LISTENERS.forEach {
+            val tag = it.key
+            // 获取数据监听需要的HZ
+            val hz = M_LISTENERS_HZ[tag]
+            if (hz != null && hz > 0) {
+                val hzTime = (1.0 / hz.toDouble()) * 1000
+                // 获取最后一次回调的时间
+                val hzLastSendTime = M_LISTENERS_HZ_LAST_SEND_TIME[tag]
+                if (hzLastSendTime != null && hzLastSendTime > 0) {
+                    // 计算是否进入下一次回调周期
+                    val nowTime = TimeUtils.getNowMills()
+                    if (nowTime - hzLastSendTime > hzTime) {
+                        syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
+                    }
+                } else {
+                    syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
+                }
+            } else {
+                syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
+            }
+        }
+    }
+
+    /**
+     * 向订阅位置信息的发出定位信息
+     */
+    private fun syncLocationCallback(
+        tag: String,
+        it: Map.Entry<String, IMoGoLocationListener>,
+        gnssInfo: MessagePad.GnssInfo,
+        sourceType: DataSourceType
+    ) {
+        // 记录最后一次回调时间
+        M_LISTENERS_HZ_LAST_SEND_TIME[tag] = TimeUtils.getNowMills()
+        val listener = it.value
+        listener.onLocationChanged(gnssInfo, sourceType)
+    }
+
+    override fun onObuLocationWGS84(data: MogoObuHvBasicsData) {
+
+    }
+
+}
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/README.md
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/README.md
@@ -0,0 +1,17 @@
+#### 说明
+
+##### 位置回调：融合工控机、OBU、高德地图
+
+```kotlin
+// 注册监听位置变换
+MoGoLocationManager.addListener(Companion.functionName, object : IMoGoLocationListener {
+    override fun onLocationChanged(
+        gnssInfo: MessagePad.GnssInfo,
+        sourceType: DataSourceType
+    ) {
+        TODO("Not yet implemented")
+    }
+})
+// 设置数据回调频率，单位HZ，1HZ的周期是1秒；50HZ的周期是1/50=0.02秒；10HZ的周期是1/10=0.1秒。
+MoGoLocationManager.setListenerHz(Companion.functionName, 20)
+```
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
@@ -37,9 +37,8 @@ class MoGoObuProvider : IMoGoObuProvider {
        MogoObuDcCombineManager.INSTANCE.init(context)
        CallerLogger.d("$M_OBU$TAG", "初始化蘑菇自研OBU…… localIp = " + CommonUtils.getLocalIPAddress())
        //bus乘客版本obu功能去掉
-        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(
-                FunctionBuildConfig.appIdentityMode
-            )
+        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
+            && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
        ) {
            //不处理
        } else {
@@ -73,9 +72,8 @@ class MoGoObuProvider : IMoGoObuProvider {
     * 通过控制面板设置ip，进行传递
     */
    override fun connect(ipAddress: String) {
-        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(
-                FunctionBuildConfig.appIdentityMode
-            )
+        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
+            && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
        ) {
            //不处理
        } else {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
@@ -5,6 +5,7 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum
 import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.enums.TrafficLightEnum
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
@@ -14,6 +15,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.obucombine.CallerObuDcCombineListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
@@ -511,7 +513,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener
            // 删除
            MogoObuConstants.STATUS.DELETE -> {
                // 移除顶部弹窗，当收不到信号的时候触发一次
-                CallerHmiManager.disableWarningTrafficLight()
+                CallerTrafficLightListenerManager.disableTrafficLight()
                CallerHmiManager.disableWarningV2X(appId.toString())
                isShowGreenWave = false
                isShowRunRedLight = false
@@ -626,7 +628,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener
        when (currentLight.light) {
            // 灯光不可用
            0 -> {
-                CallerHmiManager.showWarningTrafficLight(0, 2)
+                CallerTrafficLightListenerManager.showTrafficLight(TrafficLightEnum.BLACK, DataSourceType.TELEMATIC)
            }

            // 红灯
@@ -636,9 +638,9 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener
                    isRedLight = true
                }
                isGreenLight = false
-                CallerHmiManager.showWarningTrafficLight(1, 2)
+                CallerTrafficLightListenerManager.showTrafficLight(TrafficLightEnum.RED,  DataSourceType.TELEMATIC)
                val red = currentLight.countDown / 10
-                CallerHmiManager.changeCountdownRed(red)
+                CallerTrafficLightListenerManager.changeCountdownRed(red)
            }

            // 绿灯
@@ -648,17 +650,17 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener
                    isGreenLight = true
                }
                isRedLight = false
-                CallerHmiManager.showWarningTrafficLight(3, 2)
+                CallerTrafficLightListenerManager.showTrafficLight(TrafficLightEnum.GREEN,  DataSourceType.TELEMATIC)
                val green = currentLight.countDown / 10
-                CallerHmiManager.changeCountdownGreen(green)
+                CallerTrafficLightListenerManager.changeCountdownGreen(green)
            }

            // 黄灯
            7, 8 -> {
                CallerHmiManager.disableWarningV2X(appId.toString())
-                CallerHmiManager.showWarningTrafficLight(2, 2)
+                CallerTrafficLightListenerManager.showTrafficLight(TrafficLightEnum.YELLOW,  DataSourceType.TELEMATIC)
                val yellow = currentLight.countDown / 10
-                CallerHmiManager.changeCountdownYellow(yellow)
+                CallerTrafficLightListenerManager.changeCountdownYellow(yellow)
            }
        }
    }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -15,13 +15,12 @@ import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Default
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.TooClose
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
-import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
-import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.support.obu.MogoObuManager
 import com.mogo.support.obu.OnMogoObuListener
@@ -48,9 +47,7 @@ class MogoPrivateObuNewManager private constructor() {
        }
    }

-    private var mContext: Context? = null
-    private var mObuStatusInfo = CallerObuListenerManager.getObuStatusInfo()
-
+    private var mObuStatusInfo = CallerObuConnectListenerManager.getObuStatusInfo()

    fun connectObu(context: Context, obuIpAddress: String, padIpAddress: String) {
        MogoObuManager.getInstance().registerMogoObuListener(mogoObuListener)
@@ -100,16 +97,10 @@ class MogoPrivateObuNewManager private constructor() {
        override fun onConnectStatus(connectStatus: Int) {
            if (connectStatus == 0) { //断开连接
                mObuStatusInfo.obuStatus = false
-                mObuStatusInfo.obuHvStatus = false
-                mObuStatusInfo.obuRvStatus = false
-                CallerObuListenerManager.invokeListener(mObuStatusInfo)
-                mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU", false) }
-                mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU_HV", false) }
-                mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU_RV", false) }
+                CallerObuConnectListenerManager.invokeObuConnectListener(mObuStatusInfo)
            } else if (connectStatus == 1) { //连接成功
                mObuStatusInfo.obuStatus = true
-                CallerObuListenerManager.invokeListener(mObuStatusInfo)
-                mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU", true) }
+                CallerObuConnectListenerManager.invokeObuConnectListener(mObuStatusInfo)
            }
        }

@@ -117,9 +108,6 @@ class MogoPrivateObuNewManager private constructor() {
         * HV车辆基础信息 CvxHvCarIndInfo  CvxHvInfoIndInfo
         */
        override fun onMogoObuHvBasics(p0: MogoObuHvBasicsData?) {
-            mObuStatusInfo.obuHvStatus = true
-            CallerObuListenerManager.invokeListener(mObuStatusInfo)
-
            if (p0 != null && p0.vehBasicsMsg != null) {
                CallerLogger.d(
                    "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
@@ -168,8 +156,6 @@ class MogoPrivateObuNewManager private constructor() {
        override fun onMogoObuRvWarning(data: MogoObuRvWarningData) {
            super.onMogoObuRvWarning(data)
 //            if (HmiBuildConfig.isShowObuV2vView) { //TODO 临时需要关闭v2v开关
-            mObuStatusInfo.obuRvStatus = true
-            CallerObuListenerManager.invokeListener(mObuStatusInfo)
            if (!data.warningMsg.warningData.isNullOrEmpty()) {
                // 更新数据，远车数据，之前要匹配uuid
                TrafficDataConvertUtilsNew.cvxRvInfoIndInfo2TrafficData(data)?.let {
@@ -192,9 +178,7 @@ class MogoPrivateObuNewManager private constructor() {
                                appId = data.warningMsg.warningData[0].warningType.toString()
                                status = data.warningMsg.warningData[0].status
                                //拼凑数据
-                                if (appId != null) {
-                                    handleSdkObu(appId, direction, status, level, data)
-                                }
+                                handleSdkObu(appId, direction, status, level, data)
                            }
                        }

@@ -215,15 +199,11 @@ class MogoPrivateObuNewManager private constructor() {
         */
        override fun onMogoObuSpatWarning(data: MogoObuSpatWarningData) {
            super.onMogoObuSpatWarning(data)
-            if (data != null) {
-//                if (HmiBuildConfig.isShowObuV2iView) {
-                handlerTrafficLight(
-                    data.warningType,
-                    data.status,
-                    data.lights
-                )
-//                }
-            }
+            handlerTrafficLight(
+                data.warningType,
+                data.status,
+                data.lights
+            )
        }

        /**
@@ -232,7 +212,7 @@ class MogoPrivateObuNewManager private constructor() {
        override fun onMogoObuRsiWarning(data: MogoObuRsiWarningData) {
            super.onMogoObuRsiWarning(data)
 //            if (HmiBuildConfig.isShowObuV2iView) {
-            if (data != null && data.warningMsg != null && data.warningMsg.size > 0) {
+            if (data.warningMsg != null && data.warningMsg.size > 0) {
                var alertContent = ""
                var ttsContent = ""
                var appId = data.warningMsg[0].sceneType.toString()
@@ -411,7 +391,7 @@ class MogoPrivateObuNewManager private constructor() {
                            //显示警告红边
 //                        CallerHmiManager.showWarning(direction)
                            //不显示弹框，语音提示,数据在消息盒子里面展示，此处不在处理弹框
-                            if (alertContent.isNullOrEmpty() || ttsContent.isNullOrEmpty()) {
+                            if (alertContent.isEmpty() || ttsContent.isEmpty()) {
                                return
                            }
                            CallerMsgBoxManager.saveMsgBox(
@@ -571,7 +551,7 @@ class MogoPrivateObuNewManager private constructor() {
                                            ?.updateITrafficThreatLevelInfo(it)
                                    }

-                                if (alertContent.isNullOrEmpty() || ttsContent.isNullOrEmpty()) {
+                                if (alertContent.isEmpty() || ttsContent.isEmpty()) {
                                    return
                                }
                                //显示警告红边
@@ -650,7 +630,10 @@ class MogoPrivateObuNewManager private constructor() {

                    MogoObuConstants.STATUS.DELETE -> { // 删除
                        UiThreadHandler.post {
-                            CallerLimitingVelocityListenerManager.invokeOnLimitingVelocityChange(-1,DataSourceType.OBU)
+                            CallerLimitingVelocityListenerManager.invokeOnLimitingVelocityChange(
+                                -1,
+                                DataSourceType.OBU
+                            )
                        }
                    }
                }
@@ -926,7 +909,7 @@ private fun handlerTrafficLight(appId: Int, status: Int, lights: List<SpatLight>
        // 删除
        MogoObuConstants.STATUS.DELETE -> {
            // 移除顶部弹窗
-            CallerHmiManager.disableWarningTrafficLight()
+            CallerTrafficLightListenerManager.disableTrafficLight()
            CallerHmiManager.disableWarningV2X(appId.toString())
            isShowGreenWave = false
            isShowRunRedLight = false
@@ -1069,7 +1052,7 @@ private fun changeTrafficLightStatus(
    when (currentLight.light) {
        // 灯光不可用
        0 -> {
-            CallerObuTrafficLightListenerManager.invokeObuTrafficLight(0)
+            CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.BLACK)
        }
        // 红灯
        2, 3 -> {
@@ -1079,9 +1062,8 @@ private fun changeTrafficLightStatus(
            }
            isGreenLight = false
            isYellowLight = false
-            CallerObuTrafficLightListenerManager.invokeObuTrafficLight(1)
+            CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.RED)
            val red = currentLight.countDown.toInt()
-            CallerHmiManager.changeCountdownRed(red)
        }

        // 绿灯
@@ -1092,9 +1074,8 @@ private fun changeTrafficLightStatus(
            }
            isRedLight = false
            isYellowLight = false
-            CallerObuTrafficLightListenerManager.invokeObuTrafficLight(3)
+            CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.GREEN)
            val green = currentLight.countDown.toInt()
-            CallerHmiManager.changeCountdownGreen(green)
        }

        // 黄灯
@@ -1105,9 +1086,8 @@ private fun changeTrafficLightStatus(
            isRedLight = false
            isGreenLight = false
            CallerHmiManager.disableWarningV2X(appId.toString())
-            CallerObuTrafficLightListenerManager.invokeObuTrafficLight(2)
+            CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.YELLOW)
            val yellow = currentLight.countDown.toInt()
-            CallerHmiManager.changeCountdownYellow(yellow)
        }
    }
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/adapter/MoGoObuListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/adapter/MoGoObuListenerImpl.kt
@@ -0,0 +1,90 @@
+package com.mogo.eagle.core.function.datacenter.obu.adapter
+
+import com.mogo.eagle.core.function.call.obu.*
+import com.mogo.support.obu.OnMogoObuListener
+import com.mogo.support.obu.constants.Define.ConnectStatus
+import com.mogo.support.obu.model.*
+
+/**
+ * 适配 OBU 回调监听分发，这里不做业务，只做数据包装及分发处理
+ * @author dong hong yu
+ */
+object MoGoObuListenerImpl : OnMogoObuListener() {
+
+    /**
+     * 连接状态
+     *
+     * @param connectStatus 连接状态
+     * @since 1.0.0
+     */
+    override fun onConnectStatus(@ConnectStatus connectStatus: Int) {
+        //断开连接
+        if (connectStatus == 0) {
+            CallerObuConnectListenerManager.getObuStatusInfo().obuStatus = false
+        }
+        //连接成功
+        else if (connectStatus == 1) {
+            CallerObuConnectListenerManager.getObuStatusInfo().obuStatus = true
+        }
+        CallerObuConnectListenerManager.invokeObuConnectListener()
+    }
+
+
+    /**
+     * HV车辆基础信息
+     *
+     * @param data 数据
+     * @since 1.0.0
+     */
+    override fun onMogoObuHvBasics(data: MogoObuHvBasicsData) {
+        CallerObuLocationWGS84ListenerManager.invokeObuLocationWGS84(data)
+    }
+
+    /**
+     * V2V预警信息
+     *
+     * @param data 数据
+     * @since 1.0.0
+     */
+    override fun onMogoObuRvWarning(data: MogoObuRvWarningData) {
+        CallerObuWarningRvListenerManager.invokeObuRvWarning(data)
+    }
+
+    /**
+     * 红绿灯预警信息
+     *
+     * @param data 数据
+     * @since 1.0.0
+     */
+    override fun onMogoObuSpatWarning(data: MogoObuSpatWarningData) {
+
+    }
+
+    /**
+     * RSI预警信息
+     *
+     * @param data 数据
+     * @since 1.0.0
+     */
+    override fun onMogoObuRsiWarning(data: MogoObuRsiWarningData) {
+
+    }
+
+    /**
+     * RSM预警信息
+     *
+     * @param data 数据
+     * @since 1.0.0
+     */
+    override fun onMogoObuRsmWarning(data: MogoObuRsmWarningData) {
+    }
+
+    /**
+     * 地图匹配结果
+     *
+     * @param data 数据
+     * @since 1.0.0
+     */
+    override fun onMogoObuMapMath(data: MogoObuMapMathData) {
+    }
+}