diff --git a/entry/build-profile.json5 b/entry/build-profile.json5
index 6cfa095d..f2e18a81 100644
--- a/entry/build-profile.json5
+++ b/entry/build-profile.json5
@@ -9,12 +9,17 @@
       ],
       "path": "./src/main/cpp/CMakeLists.txt",
       "arguments": "",
-      "cppFlags": "",
+      "cppFlags": ""
     },
     "sourceOption": {
       "workers": [
         './src/main/ets/workers/worker.ts'
       ]
+    },
+    "arkOptions": {
+      "types": [
+        "./src/main/ets/common/lidar/type"
+      ]
     }
   },
   "targets": [
diff --git a/entry/src/main/ets/common/lidar/index.ts b/entry/src/main/ets/common/lidar/index.ts
index 1c479c32..b6081db6 100644
--- a/entry/src/main/ets/common/lidar/index.ts
+++ b/entry/src/main/ets/common/lidar/index.ts
@@ -2,16 +2,20 @@ import UdpClient from './udpClient/index'
 import FileUtil from '../../common/utils/File';
 import { GlobalConfig } from '../../config/index';
 import emitter from '@ohos.events.emitter';
-
+import RadarClient from './radar/index'
 interface messageIds {
   [k:string]:number;
 }
 
 class Lidar {
-  public localRadarUdp: UdpClient
+  public localRadarUdp: RadarClient
   public localVisionUdp: UdpClient
+  //是否新科目三设备
   private isNewKm3: Boolean
-  private messageIds:messageIds = {}
+  //雷达消息Ids
+  private radarMessageIds:messageIds = {}
+  ///视觉消息Ids
+  private senseMessageIds:messageIds = {}
 
   constructor() {
     this.init()
@@ -19,28 +23,28 @@ class Lidar {
 
   //监听雷达信息
   async onRadarMsg(messageId:string,callback:Function) {
-    if(this.messageIds[messageId] === undefined){
-      let timer = setInterval(()=>{
-        callback(this.radarObj)
-      },200)
-      this.messageIds[messageId] = timer;
+    if(this.radarMessageIds[messageId] === undefined){
+      const eventId = this.generateRandomNumber();
+      emitter.on({ eventId }, (data) => {callback(data)});
+      this.radarMessageIds[messageId] = eventId;
     }
   }
 
   //监听视觉信息
   async onSenseMsg(messageId:string,callback:Function) {
-    if(this.messageIds[messageId] === undefined){
-      let timer = setInterval(()=>{
-        callback(this.senseObj)
-      },200)
-      this.messageIds[messageId] = timer;
+    if(this.senseMessageIds[messageId] === undefined){
+      const eventId = this.generateRandomNumber();
+      emitter.on({ eventId }, (data) => {callback(data)});
+      this.senseMessageIds[messageId] = eventId;
     }
   }
 
   //关闭消息
-  async offVisionMsg(eventId) {
-    clearInterval(this.messageIds[eventId])
-    delete this.messageIds[eventId]
+  async offMsg(type:'radar'|'vision',messageId:string) {
+    emitter.off(
+      [type === 'radar'?this.radarMessageIds:this.senseMessageIds][messageId]
+    )
+    delete [type === 'radar'?this.radarMessageIds:this.senseMessageIds][messageId]
   }
 
   async init() {
@@ -50,23 +54,41 @@ class Lidar {
 
     //新科目三设备
     if (deviceType == '2') {
-      //雷达数据
-      this.localRadarUdp = new UdpClient('radar', {
+      //雷达UDP
+      this.localRadarUdp = new RadarClient({
         deviceIpArr, devicePortArr, udplocalIp
       });
 
-      //视觉数据
+      //视觉UDP
       this.localVisionUdp = new UdpClient('vision', {
         deviceIpArr, devicePortArr, udplocalIp
       })
 
       this.localRadarUdp.onMessage((obj) => {
-        this.radarObj = obj
+        //广播注册的radar消息
+        Reflect.ownKeys(this.radarMessageIds).forEach((messageId:string) => {
+          emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
+        })
       })
+
       this.localVisionUdp.onMessage((obj) => {
-        this.visionObj = obj
+        //广播注册的sense消息
+        Reflect.ownKeys(this.senseMessageIds).forEach((messageId:string) => {
+          emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
+        })
       })
       this.isNewKm3 = true;
     }
+
+    //TODO 安全员设备
+  }
+
+  //随机生成6位的id
+  generateRandomNumber(){
+    let num = '';
+    for (let i = 0; i < 6; i++) {
+      num += Math.floor(Math.random() * 10);
+    }
+    return Number(num);
   }
 }
\ No newline at end of file
diff --git a/entry/src/main/ets/common/lidar/radar/index.ts b/entry/src/main/ets/common/lidar/radar/index.ts
new file mode 100644
index 00000000..c75d45ee
--- /dev/null
+++ b/entry/src/main/ets/common/lidar/radar/index.ts
@@ -0,0 +1,93 @@
+import UdpClient from '../udpClient/index'
+import emitter from '@ohos.events.emitter';
+import {Machine,messageIds} from '../type'
+import systemTime from '@ohos.systemDateTime';
+
+//雷达消息Ids
+export default class RadarClient{
+
+  public localRadarUdp: UdpClient
+  private radarMessageIds:messageIds = {}
+
+  constructor(params:{
+    deviceIpArr:string[],
+    devicePortArr:number[],
+    udplocalIp:string
+  }) {
+    const {deviceIpArr,devicePortArr,udplocalIp} = params;
+
+    //雷达UDP
+    this.localRadarUdp = new UdpClient('radar', {
+      deviceIpArr, devicePortArr, udplocalIp
+    });
+  }
+
+  onMessage(callback){
+    this.localRadarUdp.onClientMessage((str) => {
+      const data = this.radarStrToObj(str)
+      callback( data)
+    })
+  }
+
+  // 雷达数据解析
+  async radarStrToObj(str:string){
+    //$MachineVision,30.950^0_-1_1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1^-1,43083,0_0_0_0,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,10102264201.69632,1.1.1.2,0*+$VisualInfo,1_-7205_3480_-7300_3350_-7655_3610_-7560_3735_,*+[ { "bodyangle": "1.00", "bodyx": "0.490", "bodyy": "31.300", "elevation": "2.403", "geoangle": "323.90", "geolat": "29.92678975", "geolon": "119.89823128", "id": 1, "type": 2 } ]
+    const [machine, visual, obj] = str.split('+');
+    const machineArr = machine.split(',');
+    let tempObj:Machine = {};
+    tempObj.sj = await systemTime.getCurrentTime();
+    tempObj.xh = Number(machineArr[10]);
+    ['qf', 'hf', 'zq', 'zh', 'yq', 'yh', 'zc', 'yc', 'zf'].forEach((c,index) => {
+      tempObj[c] = this.getMachineItem(machineArr[index + 1]);
+    });
+    ['lq', 'lz', 'ly'].forEach((c,index) => {
+      tempObj[c] = this.getMachineItem(machineArr[index + 13]);
+    });
+    tempObj.wt = this.getMachineWt(machineArr[10])
+    tempObj.rc = this.getMachineRc(machineArr[12])
+  }
+
+  // 视觉数据解析
+  async visionStrToObj(str:string){
+    //$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
+
+    //$SBXS,213,20250603090553562,B207,邓凯倩@@320250603085259@000000100000001001001000@14@870@28520185@115902060@1@828@4294943473@359.8704@0@0@1111111111011111111111111111111100000000@0@0000000000@3142@0@0@@C1@赣A78QK6@0@001-001@360121200401040528,01,*SBJS
+  }
+
+  getMachineItem(str){
+    const strArr = str.split('_');
+    return {
+      //对象编号
+      bh:strArr[2],
+      //车类型
+      lx:strArr[3],
+      //纵向距离
+      jz:strArr[0].split('^')[0],
+      //横向距离
+      jh:strArr[0].split('^')[1],
+      //速度
+      sd:strArr[1]
+    }
+  }
+
+  //获取前方数据
+  getMachineWt(str){
+    return {
+      xz:str.split('_')[0].split('^')[0],
+      xh:str.split('_')[0].split('^')[1],
+      zz:str.split('_')[1].split('^')[0],
+      zh:str.split('_')[1].split('^')[1],
+    }
+  }
+
+  //获取绕车一周数据
+  getMachineRc(str){
+    return {
+      zh:str.split('_')[0],
+      yh:str.split('_')[1],
+      yq:str.split('_')[2],
+      zq:str.split('_')[3]
+    }
+  }
+
+}
\ No newline at end of file
diff --git a/entry/src/main/ets/common/lidar/sense/index.ts b/entry/src/main/ets/common/lidar/sense/index.ts
deleted file mode 100644
index e480a683..00000000
--- a/entry/src/main/ets/common/lidar/sense/index.ts
+++ /dev/null
@@ -1,10 +0,0 @@
-
-
-export default class SenseUtil{
-  constructor() {}
-
-  //扣分
-  //开始考试
-  //结束考试
-
-}
\ No newline at end of file
diff --git a/entry/src/main/ets/common/lidar/type.d.ts b/entry/src/main/ets/common/lidar/type.d.ts
new file mode 100644
index 00000000..44ffae25
--- /dev/null
+++ b/entry/src/main/ets/common/lidar/type.d.ts
@@ -0,0 +1,101 @@
+
+interface visionType1{
+  sj?:number
+  //置信度
+  df?:0|1
+  //摇头旋转角度
+  yt?:number
+  //左右旋转角度
+  zy?:number
+  //上下点头角度
+  sx?: number
+}
+interface visionType2{
+  sj?: number
+  //控制方向盘
+  fx?: number
+  //手伸出窗外
+  ch?: number
+}
+interface visionType3{
+  sj?:number
+  //信号灯
+  xd?:string
+  //识别前方物体
+  wt:0|1|2|3|4
+  //中心隔离设施或中心线
+  zx:0|1|-1
+  //后车超车信号灯
+  hc:string
+}
+
+
+interface  MachineItem{
+  //对象编号
+  bh:number
+  //车类型
+  lx:number
+  //纵向距离
+  jz:number
+  //横向距离
+  jh:number
+  //速度
+  sd:number
+}
+
+export interface Machine{
+  sj?:number
+  //帧数
+  xh?:number
+  //本车道前方数据
+  qf?:MachineItem
+  //本车道后方数据
+  hf?:MachineItem
+  //左侧车道前方
+  zq?:MachineItem
+  //左侧车道后方
+  zh?:MachineItem
+  //右侧车道前方
+  yq?:MachineItem
+  //右侧车道后方
+  yh?:MachineItem
+  //左侧车道
+  zc?:MachineItem
+  //右侧车道
+  yc?:MachineItem
+  //左侧方向车道
+  zf?:MachineItem
+  //前方数据
+  wt?:{
+    //行人距离本车的距离(纵向距离)
+    xz:number
+    //行人距离本车的距离(横向向距离)
+    xh:number
+    //障碍物距离本车的距离(纵向距离)
+    zz:number
+    //障碍物距离本车的距离(横向距离)
+    zh:number
+  }
+  //绕车一车数据
+  rc?:{
+    //左后
+    zh:number
+    //右后
+    yh:number
+    //右前
+    yq:number
+    //左前
+    zq:number
+  },
+  //路口前方来车数据
+  lq?:MachineItem,
+  //路口左侧来车
+  lz?:MachineItem,
+  //路口右侧来车
+  ly?:MachineItem
+  [k:string]:any
+}
+
+export interface messageIds {
+  [k:string]:number;
+}
\ No newline at end of file
diff --git a/entry/src/main/ets/common/lidar/udpClient/index.ts b/entry/src/main/ets/common/lidar/udpClient/index.ts
index 4cf3ef38..643c993c 100644
--- a/entry/src/main/ets/common/lidar/udpClient/index.ts
+++ b/entry/src/main/ets/common/lidar/udpClient/index.ts
@@ -1,7 +1,9 @@
 import socket from '@ohos.net.socket';
 import FileUtil from '../../../common/utils/File';
 import { GlobalConfig } from '../../../config/index';
+import {Machine} from '../type'
 import promptAction from '@ohos.promptAction'
+import systemTime from '@ohos.systemDateTime';
 
 const TAG = 'LIDAUDP'
 type TYPE = 'vision' | 'radar'
@@ -47,22 +49,21 @@ export default class LidaUdpClient{
     })
   }
 
-  async onMessage(callback){
+  async onClientMessage(callback){
     this.offMessage()
     //message
-    this.udpClient.on('message',(val)=>{
-      //TODO 消息解析
+    this.udpClient.on('message',(str)=>{
       switch (this.type){
       //激光雷达
         case 'radar':
-          this.radarStrToObj(val)
+          callback(str)
           break;
       //视觉
         case 'vision':
-          this.visionStrToObj(val)
+          callback(str)
           break;
       }
-      console.log(val+'');
+      console.log(str+'');
     });
   }
 
@@ -78,16 +79,6 @@ export default class LidaUdpClient{
     }
   }
 
-  //
-  async radarStrToObj(str:string){
-    //$MachineVision,30.950^0_-1_1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1^-1,43083,0_0_0_0,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,10102264201.69632,1.1.1.2,0*+$VisualInfo,1_-7205_3480_-7300_3350_-7655_3610_-7560_3735_,*+[ { "bodyangle": "1.00", "bodyx": "0.490", "bodyy": "31.300", "elevation": "2.403", "geoangle": "323.90", "geolat": "29.92678975", "geolon": "119.89823128", "id": 1, "type": 2 } ]
-
-  }
-
-  async visionStrToObj(str:string){
-
-  }
-
   async offMessage(){
     this.udpClient.off('message')
   }
diff --git a/entry/src/main/ets/common/lidar/vision/index.ts b/entry/src/main/ets/common/lidar/vision/index.ts
new file mode 100644
index 00000000..825a0f67
--- /dev/null
+++ b/entry/src/main/ets/common/lidar/vision/index.ts
@@ -0,0 +1,42 @@
+import UdpClient from '../udpClient/index'
+import emitter from '@ohos.events.emitter';
+import {messageIds} from '../type'
+import systemTime from '@ohos.systemDateTime';
+
+export default class VisionClient{
+
+  public localVisionUdp: UdpClient
+  private visionMessageIds:messageIds = {}
+
+  constructor(params:{
+    deviceIpArr:string[],
+    devicePortArr:number[],
+    udplocalIp:string
+  }) {
+    const {deviceIpArr,devicePortArr,udplocalIp} = params;
+
+    //视觉UDP
+    this.localVisionUdp = new UdpClient('vision', {
+      deviceIpArr, devicePortArr, udplocalIp
+    });
+  }
+
+  onMessage(callback){
+    this.localVisionUdp.onClientMessage((str) => {
+      const data = this.visionStrToObj(str)
+      callback( data)
+    })
+  }
+
+  // 视觉数据解析
+  async visionStrToObj(str:string){
+    //$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
+
+    //$SBXS,213,20250603090553562,B207,邓凯倩@@320250603085259@000000100000001001001000@14@870@28520185@115902060@1@828@4294943473@359.8704@0@0@1111111111011111111111111111111100000000@0@0000000000@3142@0@0@@C1@赣A78QK6@0@001-001@360121200401040528,01,*SBJS
+  }
+
+  //扣分
+  //开始考试
+  //结束考试
+
+}
\ No newline at end of file
diff --git a/entry/src/main/ets/pages/judgeSDK/api/index.ts b/entry/src/main/ets/pages/judgeSDK/api/index.ts
index 6ec593da..fbe3f879 100644
--- a/entry/src/main/ets/pages/judgeSDK/api/index.ts
+++ b/entry/src/main/ets/pages/judgeSDK/api/index.ts
@@ -209,6 +209,18 @@ export async function examCalcGpsDistance(param:{
   return await temp;
 }
 
+/**
+ * @desc 视觉分析类
+ *
+ */
+
+
+/**
+ * @desc 交通视觉感知类
+ *
+ */
+
+
 
 /*
  * @desc通用处理函数
diff --git a/entry/src/main/resources/rawfile/voice/sound_green_to.mp3 b/entry/src/main/resources/rawfile/voice/sound_green_to.mp3
new file mode 100644
index 00000000..2d8beb4b
Binary files /dev/null and b/entry/src/main/resources/rawfile/voice/sound_green_to.mp3 differ