diff --git a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/constant/BusPassengerConst.kt b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/constant/BusPassengerConst.kt
index 38f614a10b..8d8bc5d97f 100644
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/constant/BusPassengerConst.kt
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/constant/BusPassengerConst.kt
@@ -44,5 +44,7 @@ class BusPassengerConst {
 
         // 订单总里程
         const val BUS_SP_KEY_ORDER_SUM_DIS = "BUS_SP_KEY_ORDER_SUM_DIS"
+
+        const val QUERY_BUS_P_STATION_DELAY = 5 * 1000L
     }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
index 64830672fe..9a5fe1584f 100644
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -4,6 +4,8 @@ import android.content.Context;
 import android.content.Intent;
 import android.location.Location;
 import android.net.ConnectivityManager;
+import android.os.Handler;
+import android.os.Message;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -56,6 +58,7 @@ import mogo_msg.MogoReportMsg;
 import system_master.SystemStatusInfo;
 
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
+import static com.mogo.och.bus.passenger.constant.BusPassengerConst.QUERY_BUS_P_STATION_DELAY;
 import static com.mogo.och.bus.passenger.constant.BusPassengerConst.STATION_STATUS_STOPPED;
 
 /**
@@ -88,6 +91,18 @@ public class BusPassengerModel {
     private int mNextStationIndex = 0;// 要到达站的index
     private List<LatLng> mTwoStationsRouts = new ArrayList<>();
 
+    private static final int MSG_QUERY_BUS_P_STATION = 1001;
+    private final Handler handler = new Handler(new Handler.Callback() {
+        @Override
+        public boolean handleMessage(Message msg) {
+            if ( msg.what == MSG_QUERY_BUS_P_STATION ) {
+                queryDriverOperationStatus();
+                return true;
+            }
+            return false;
+        }
+    });
+
     private BusPassengerModel() {
     }
 
@@ -106,6 +121,10 @@ public class BusPassengerModel {
         this.mRouteLineInfoCallback = callback;
     }
 
+    private void queryDriverOperationDelay() {
+        handler.sendEmptyMessageDelayed( MSG_QUERY_BUS_P_STATION, QUERY_BUS_P_STATION_DELAY );
+    }
+
     private void queryDriverOperationStatus() {
         BusPassengerServiceManager.getInstance().queryDriverOperationStatus(mContext
                 , new BusPassengerServiceCallback<BusPassengerOperationStatusResponse>() {
@@ -121,7 +140,8 @@ public class BusPassengerModel {
 
             @Override
             public void onFail(int code, String msg) {
-                queryDriverOperationStatus();
+                //延迟3s再次查询
+                queryDriverOperationDelay();
             }
         });
     }
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/AnimatorDrawableUtil.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/AnimatorDrawableUtil.java
index bbf9d779eb..513bfa6c34 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/AnimatorDrawableUtil.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/AnimatorDrawableUtil.java
@@ -35,7 +35,7 @@ public class AnimatorDrawableUtil {
     //图片资源的ID列表
     private List<Integer> mResourceIdList = null;
     //定时任务器
-    private Timer mTimer = null;
+    private final Timer mTimer = new Timer();
     //定时任务
     private AnimTimerTask mTimeTask = null;
     //记录播放位置
@@ -44,7 +44,7 @@ public class AnimatorDrawableUtil {
     private boolean isLooping = false;
 
     public AnimatorDrawableUtil() {
-        mTimer = new Timer();
+//        mTimer = new Timer();
     }
 
     /**
@@ -139,18 +139,25 @@ public class AnimatorDrawableUtil {
      */
     public void start(boolean loop, int duration, AnimationLisenter lisenter) {
         this.lisenter = lisenter;
-        stop();
+//        stop();
         if (mResourceIdList == null || mResourceIdList.size() == 0) {
             return;
         }
-        if (mTimer == null) {
-            mTimer = new Timer();
+//        if (mTimer == null) {
+//            mTimer = new Timer();
+//        }
+        try {
+            isLooping = loop;
+            mFrameIndex = 0;
+            mState = STATE_RUNNING;
+            if (mTimeTask != null){
+                return;
+            }
+            mTimeTask = new AnimTimerTask();
+            mTimer.schedule(mTimeTask, 0, duration);
+        }catch (Exception e){
+            e.printStackTrace();
         }
-        isLooping = loop;
-        mFrameIndex = 0;
-        mState = STATE_RUNNING;
-        mTimeTask = new AnimTimerTask();
-        mTimer.schedule(mTimeTask, 0, duration);
         if (lisenter != null){
             lisenter.startAnimation();
         }
@@ -163,7 +170,7 @@ public class AnimatorDrawableUtil {
         if (mTimer != null) {
             mTimer.purge();
             mTimer.cancel();
-            mTimer = null;
+//            mTimer = null;
         }
         if (mTimeTask != null) {
             mFrameIndex = 0;
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
index 06ce8ec0f4..c3070eb0ba 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -67,7 +67,10 @@ import java.util.Collections;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;
 
+import io.reactivex.Observable;
+import io.reactivex.disposables.Disposable;
 import io.reactivex.exceptions.UndeliverableException;
 import io.reactivex.functions.Consumer;
 import io.reactivex.plugins.RxJavaPlugins;
@@ -108,6 +111,9 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
 
     private ITaxiPassengerVeloctityCallback mVeloctityCallback;//道路限速返回
 
+    private Disposable subscribe;
+    private int delayTime = 2;
+
     private double mLongitude, mLatitude;
 
     private List<LatLng> mLocationsModels = new ArrayList<>();
@@ -209,6 +215,9 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
         startOrStopOrderLoop(false);
         startOrStopQueryOrderRemaining(false);
         releaseListeners();
+        if(subscribe!=null&&!subscribe.isDisposed()){
+            subscribe.dispose();
+        }
     }
 
     private void initListeners() {
@@ -720,13 +729,17 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
                          startOrStopRouteAndWipe(true);
                      }
                  }else {
-                     queryOrderRouteList();
+                     subscribe = Observable.timer(delayTime, TimeUnit.SECONDS).subscribe(aLong -> {
+                         queryOrderRouteList();
+                     });
                  }
              }
 
              @Override
              public void onFail(int code, String msg) {
-                 queryOrderRouteList();
+                 subscribe = Observable.timer(delayTime, TimeUnit.SECONDS).subscribe(aLong -> {
+                     queryOrderRouteList();
+                 });
              }
          });
     }
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java
index 48cb45f36e..089dee2fc9 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java
@@ -24,11 +24,8 @@ import com.mogo.och.taxi.passenger.model.TaxiPassengerGeocodeSearchModel;
 import com.mogo.och.taxi.passenger.model.TaxiPassengerModel;
 import com.mogo.och.taxi.passenger.ui.TaxiPassengerServingOrderFragment;
 
-import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;
 
 /**
@@ -54,9 +51,11 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
     }
 
     private void initListener() {
+        // 设置起点和终点marker和实时车辆位置
         TaxiPassengerModel.getInstance().setMoGoAutopilotPlanningListener(this);
         TaxiPassengerModel.getInstance().setOrderStatusCallback("TaxiPassengerServingOrderPresenter",this);
         TaxiPassengerModel.getInstance().setControllerStatusCallback("TaxiPassengerServingOrderPresenter",this);
+        // 获取道路限速
         TaxiPassengerModel.getInstance().setVeloctityCallback(this);
     }
 
@@ -132,10 +131,19 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
 
     }
 
+    private long startTime = 0;
+    private static final long TIMEINTERVAL = 4000;
+
     @Override
     public void onCarLocationChanged(Location location) {
         if (location != null){
             runOnUIThread(() -> mView.onCarLocationChanged(location));
+            long currentTimeMillis = System.currentTimeMillis();
+            if(currentTimeMillis-startTime<TIMEINTERVAL){
+                return;
+            }
+            CallerLogger.INSTANCE.d(M_TAXI_P + TAG,"onCarLocationChanged 获取当前路的信息");
+            startTime = currentTimeMillis;
             TaxiPassengerGeocodeSearchModel.getInstance(getContext()).searchLocationInfo(location.getLatitude(),location.getLongitude());
         }
     }
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
index 5d8aba7836..7f93833b86 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
@@ -101,9 +101,9 @@ public class TaxiPassengerStartAutopilotView extends RelativeLayout implements V
         mAutopilotBtnBg = view.findViewById(R.id.taxi_p_autopilot_btn_bg);
         mCarIv = view.findViewById(R.id.taxi_p_autopilot_starting);
 
-        initBtnAnimatonDrawable();
-
-        initCarStartingFrame();
+//        initBtnAnimatonDrawable();
+//
+//        initCarStartingFrame();
     }
 
     private void initCarStartingFrame() {
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
index 242054397e..5bd2c9cb2f 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -42,6 +42,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     private static final String TAG = TaxiPresenter.class.getSimpleName();
 
     private boolean isFirstShow = true;
+    private int preAutopilotStatus = 0;
 
     public TaxiPresenter(TaxiFragment view) {
         super(view);
@@ -191,24 +192,30 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     public void onAutopilotEnable() {
         runOnUIThread(() -> mView.updateAutopilotStatus(
                 IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE));
+        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE;
     }
 
     @Override
     public void onAutopilotDisable() {
         runOnUIThread(() -> mView.updateAutopilotStatus(
                 IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE));
+        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE;
     }
 
     @Override
     public void onAutopilotRunning() {
-        runOnUIThread(() -> mView.updateAutopilotStatus(
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING));
+        if (preAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
+            runOnUIThread(() -> mView.updateAutopilotStatus(
+                    IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING));
+        }
+        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
     }
 
 
     @Override
     public void onManMachineCoDriving() {
         runOnUIThread(() -> mView.onManMachineCoDriving(IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING));
+        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING;
     }
 
     @Override
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
index 319bcc9533..305a7372c8 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
@@ -396,8 +396,8 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
             }
             taxiLoginDialog.show(getParentFragmentManager(), taxiLoginDialog.getTag());
             taxiLoginDialog.setOnDismissListener(dialog -> {
-                mPresenter.queryLoginStatus();
                 taxiLoginDialogFragment.clear();
+                mPresenter.queryLoginStatus();
             });
         }
     }
diff --git a/app/build.gradle b/app/build.gradle
index ba5a04b45f..ec88716351 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -16,6 +16,11 @@ if (!isAndroidTestBuild()) {
         logLevel "DEBUG"
     }
 }
+
+if (!isAndroidTestBuild()) {
+    apply plugin: 'bytex.notsticky.service'
+}
+
 if (!isAndroidTestBuild()) {
     apply plugin: 'chain.log.hook'
     hooklog{
@@ -34,7 +39,6 @@ if (!isAndroidTestBuild()) {
         enable true
         enableInDebug true
         logLevel "DEBUG"
-        threadNameMaxLength 1000
         //白名单中的类不进行替换
         white_list = [
                 'leakcanary.*',
diff --git a/build.gradle b/build.gradle
index 92779969b6..e65d1be81d 100644
--- a/build.gradle
+++ b/build.gradle
@@ -32,9 +32,10 @@ buildscript {
         classpath "com.bytedance.android.byteX:base-plugin:0.3.0"
         classpath "com.mogo.cloud:hook:${HOOK_LOG_VERSION}"
         classpath 'com.volcengine:apm_insight_plugin:1.4.1'
-        classpath 'com.mogo.thread.opt:plg:2.1.3'
+        classpath 'com.mogo.thread.opt:plg:2.1.6'
         classpath 'com.mogo.cloud:systrace:1.0.1'
         classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.18'
+        classpath 'com.mogo.sticky:service:1.0.8'
 
 //        classpath ("com.tencent.matrix:matrix-gradle-plugin:0.6.6") { changing = true }
     }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
index 88e1bf6b31..2dc8c466e2 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
@@ -2,10 +2,11 @@ package com.mogo.eagle.core.function.hmi.ui.tools
 
 import android.annotation.SuppressLint
 import android.content.Context
+import android.content.Intent
 import android.graphics.Color
 import android.graphics.drawable.ColorDrawable
+import android.os.Process
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.FrameLayout
@@ -29,6 +30,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import kotlinx.android.synthetic.main.view_auto_pilot_check.view.*
 import mogo.telematics.pad.MessagePad
 import org.greenrobot.eventbus.EventBus
+import kotlin.system.exitProcess
 
 /**
  * @author ChenFufeng
@@ -97,6 +99,9 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
         ivCloseIcon.setOnClickListener {
             clickListener?.onClose(it)
         }
+        rlKillLayout.setOnClickListener {
+            killApp()
+        }
         viewCheckStatus.setOnClickListener {
             clickListener?.go2CheckPage()
         }
@@ -170,6 +175,16 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
         }
     }
 
+    private fun killApp() {
+        Intent(Intent.ACTION_MAIN).apply {
+            addCategory(Intent.CATEGORY_HOME)
+            flags = Intent.FLAG_ACTIVITY_NEW_TASK
+            context.startActivity(this)
+            Process.killProcess(Process.myPid())
+            exitProcess(0)
+        }
+    }
+
     fun setClickListener(clickListener: ClickListener) {
         this.clickListener = clickListener
     }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/service/MogoMainService.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/service/MogoMainService.java
index 3e9ac110d3..c8c2bd0bad 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/service/MogoMainService.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/service/MogoMainService.java
@@ -67,7 +67,7 @@ class MogoMainService extends Service implements IMogoLocationListener {
 
     @Override
     public int onStartCommand(Intent intent, int flags, int startId) {
-        return START_STICKY;
+        return START_NOT_STICKY;
     }
 
     private void initAndStartLocation() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/close_nor.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/close_nor.png
new file mode 100644
index 0000000000..2e2017cb27
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/close_nor.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
index 1173d0e572..88f719956b 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
@@ -107,6 +107,31 @@
                         android:textSize="32px" />
                 </RelativeLayout>
 
+                <RelativeLayout
+                    android:id="@+id/rlKillLayout"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_marginStart="142px">
+
+                    <ImageView
+                        android:id="@+id/ivKillImg"
+                        android:layout_width="150px"
+                        android:layout_height="150px"
+                        android:layout_centerHorizontal="true"
+                        android:background="@drawable/close_nor" />
+
+                    <TextView
+                        android:id="@+id/tvKillContent"
+                        android:layout_width="wrap_content"
+                        android:layout_height="42px"
+                        android:layout_alignParentBottom="true"
+                        android:layout_centerHorizontal="true"
+                        android:layout_marginTop="23px"
+                        android:text="杀死APP"
+                        android:textColor="@color/color_FFA7B6F0"
+                        android:textSize="32px" />
+                </RelativeLayout>
+
             </LinearLayout>
 
             <TextView
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
index 77c13167a1..0066ee8c2a 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
@@ -1,13 +1,14 @@
 package com.mogo.eagle.core.function.map
 
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
-import mogo.telematics.pad.MessagePad
-import rule_segement.MogoPointCloudOuterClass
 import java.math.BigDecimal
 
 /**
@@ -16,12 +17,15 @@ import java.math.BigDecimal
  *
  * @author donghongyu
  */
-class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAutopilotPointCloudListener {
+class MapPointCloudSubscriber private constructor()
+    : IMoGoSubscriber, IMoGoAutopilotPointCloudListener, IMoGoAutopilotStatusListener {
 
     private val TAG = "MapPointCloudSubscriber"
 
     private var isDrawPointCloud = false
 
+    private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
+
     init {
         onCrate()
     }
@@ -34,16 +38,18 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
 
     override fun onCrate() {
         CallerAutopilotPointCloudListenerManager.addListener(TAG, this)
-
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
     override fun onDestroy() {
         CallerAutopilotPointCloudListenerManager.removeListener(TAG)
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 
     override fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
         try {// 根据配置动态控制点云是否绘制
-            if (FunctionBuildConfig.isDrawPointCloudData) {
+            if (FunctionBuildConfig.isDrawPointCloudData && isDrawCloudPointDockerVersion()) {
                 if (!isDrawPointCloud) {
                     Logger.d(TAG, "====开启点云渲染====")
                     isDrawPointCloud = true
@@ -74,13 +80,53 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
         }
     }
 
-    override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
-//        Logger.d(TAG, "数据对比："
-//                + "\n自车定位：自车的 satelliteTime==${getPrettyNumber(CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().satelliteTime.toString())}   经纬度：${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLat},${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLon}"
-//                + "\n点云数据：点云的 header?.timestamp==${getPrettyNumber(header?.timestamp.toString())}   经纬度：${pointCloud?.selfLatitude},${pointCloud?.selfLongitude}   点云数量：addDataCount==${pointCloud?.addDataCount}  delDataCount===${pointCloud?.delDataCount}  "
-//        )
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        mAutoPilotStatusInfo = autoPilotStatusInfo
     }
 
+    /**
+     * 判断是否是260之后但版本
+     */
+    fun isDrawCloudPointDockerVersion(): Boolean {
+        // 由于Docker命名规则不统一，但核心版本是统一但，采用"."分割，如下
+        // MAP-taxi_RoboTaxi_Default_2.2.0_badcasetest_20220215_dev
+        val dockerVersionName = mAutoPilotStatusInfo?.dockVersion
+        // "." 分割，取前两位
+        val dockerVersionNameArray = dockerVersionName?.split(".")
+
+        var dockerVersionCode = ""
+        dockerVersionNameArray?.let {
+            if (it.size > 3) {
+                for (index in 0 until 3) {
+                    dockerVersionCode +=
+                            when (index) {
+                                0 -> {
+                                    it[index].substring(it[index].lastIndex)
+                                }
+                                it.size - 1 -> {
+                                    it[index].substring(0, 1)
+                                }
+                                else -> {
+                                    it[index]
+                                }
+                            }
+                }
+            }
+        }
+        val dockerVersion =
+                if (dockerVersionCode.isNotEmpty()) {
+                    dockerVersionCode.toInt()
+                } else {
+                    0
+                }
+
+        if (dockerVersion >= 260) {
+            return true
+        }
+        return false
+    }
+
+
     fun getPrettyNumber(number: String): String {
         return BigDecimal.valueOf(number.toDouble())
                 .stripTrailingZeros().toPlainString()
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
index 8c4e0776a0..2cc349f35a 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
@@ -18,9 +18,4 @@ interface IMoGoAutopilotPointCloudListener {
      */
     fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?)
 
-    /**
-     *
-     */
-    fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?)
-
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
index 798aba4b33..d95ada7645 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
@@ -68,16 +68,4 @@ object CallerAutopilotPointCloudListenerManager : CallerBase() {
         }
     }
 
-    /**
-     * 点云数据 回调
-     */
-    @Synchronized
-    fun invokeAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
-        M_POINT_CLOUD_LISTENERS.forEach {
-            val tag = it.key
-            val listener = it.value
-            listener.onAutopilotPointCloudDataUpdate(header, pointCloud)
-        }
-    }
-
 }
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index bc471979c6..a0f811cf43 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -63,23 +63,23 @@ SERVICE_CHAIN_VERSION=1.1.0
 LOGLIB_VERSION=1.3.38
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.3.23
+MOGO_NETWORK_VERSION=1.4.3.26
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.3.23
+MOGO_PASSPORT_VERSION=1.4.3.26
 # 常链接
-MOGO_SOCKET_VERSION=1.4.3.23
+MOGO_SOCKET_VERSION=1.4.3.26
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.3.23
+MOGO_REALTIME_VERSION=1.4.3.26
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.4.3.23
+MOGO_TANLU_VERSION=1.4.3.26
 # 直播推流
-MOGO_LIVE_VERSION=1.4.3.23
+MOGO_LIVE_VERSION=1.4.3.26
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.3.23
+MOGO_TRAFFICLIVE_VERSION=1.4.3.26
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.3.23
+MOGO_LOCATION_VERSION=1.4.3.26
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.3.23
+MOGO_TELEMATIC_VERSION=1.4.3.26
 ######## MogoAiCloudSDK Version ########
 # 自研地图
 MAP_SDK_VERSION=2.4.2.3