Merge branch 'qa_1.1.9' of http://gitlab.zhidaoauto.com/ecos/yycp-service/Launcher into qa_1.1.9

2021-01-08 15:38:29 +08:00
parent bcca60bb4c 59f095e295
commit 3ffa127671
34 changed files with 345 additions and 158 deletions
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -38,7 +38,7 @@ android {
    }
    buildTypes {
        debug {
-            debuggable = false
+            debuggable true
            minifyEnabled false
            zipAlignEnabled false
            shrinkResources false
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
@@ -2,6 +2,7 @@ package com.mogo.base.websocket;

 import android.content.Context;
 import android.os.SystemClock;
+import android.util.Log;

 import androidx.annotation.Keep;

@@ -183,7 +184,7 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin

    @Override
    public void handleMessage(String message) {
-        Logger.d(TAG, "websocket received msg = " + message);
+        Logger.d(TAG, "websocket received msg = %s", message);
        WebSocketData webSocketData = GsonUtil.objectFromJson(message, WebSocketData.class);
        int msgType = webSocketData.getMsgType();
        Logger.d(TAG, "websocket received msg type = " + msgType);
@@ -195,9 +196,11 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
                while (iterator.hasNext()) {
                    IMogoOnWebSocketMessageListener listener = iterator.next();
                    if (listener != null) {
-                        Logger.d(TAG, "received msgId = " + webSocketData.getSeq() + ", content = " + webSocketData.getData());
+                        Logger.d(TAG, "received msgId = " + webSocketData.getSeq() + ", content = %s", webSocketData.getData());
                        Object receiveObj = GsonUtil.objectFromJson(webSocketData.getData(),listener.target());
+                        final long start = System.currentTimeMillis();
                        listener.onMsgReceived(receiveObj);
+                        Logger.d("WebSocketManager-sdk-timer", "cost " + (System.currentTimeMillis() - start) + "ms");
                    }
                }
            }
--- a/foudations/mogo-utils/src/main/java/com/mogo/utils/CoordinateUtils.java
+++ b/foudations/mogo-utils/src/main/java/com/mogo/utils/CoordinateUtils.java
@@ -76,4 +76,44 @@ public class CoordinateUtils {
        return var10000;
    }

+    /**
+     * @param lon1
+     * @param lat1
+     * @param lon2
+     * @param lat2
+     * @return 两坐标的距离 单位：米（M）
+     */
+    public static float calculateLineDistance( double lon1, double lat1, double lon2, double lat2 ) {
+        try {
+            double var2 = lon1;
+            double var4 = lat1;
+            double var6 = lon2;
+            double var8 = lat2;
+            var2 *= 0.01745329251994329D;
+            var4 *= 0.01745329251994329D;
+            var6 *= 0.01745329251994329D;
+            var8 *= 0.01745329251994329D;
+            double var10 = Math.sin( var2 );
+            double var12 = Math.sin( var4 );
+            double var14 = Math.cos( var2 );
+            double var16 = Math.cos( var4 );
+            double var18 = Math.sin( var6 );
+            double var20 = Math.sin( var8 );
+            double var22 = Math.cos( var6 );
+            double var24 = Math.cos( var8 );
+            double[] var28 = new double[3];
+            double[] var29 = new double[3];
+            var28[0] = var16 * var14;
+            var28[1] = var16 * var10;
+            var28[2] = var12;
+            var29[0] = var24 * var22;
+            var29[1] = var24 * var18;
+            var29[2] = var20;
+            return ( float ) ( Math.asin( Math.sqrt( ( var28[0] - var29[0] ) * ( var28[0] - var29[0] ) + ( var28[1] - var29[1] ) * ( var28[1] - var29[1] ) + ( var28[2] - var29[2] ) * ( var28[2] - var29[2] ) ) / 2.0D ) * 1.27420015798544E7D );
+        } catch ( Throwable var26 ) {
+            var26.printStackTrace();
+            return 0.0F;
+        }
+    }
+
 }
--- a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapWrapper.java
+++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapWrapper.java
@@ -45,7 +45,7 @@ public class AMapWrapper implements IMogoMap {
    public AMapWrapper( AMap map, Context context, IMogoMapUIController controller ) {
        this.mAMap = map;
        sAMap = map;
-        mContext = context;
+        mContext = context.getApplicationContext();
        mUIcontroller = controller;
        // 设置实现自定义 info window
        if(mAMap!=null) {
--- a/libraries/map-custom/build.gradle
+++ b/libraries/map-custom/build.gradle
@@ -67,7 +67,7 @@ dependencies {
        implementation project(':foudations:mogo-commons')
    }

-    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-7.7.7'
+    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-7.8.1'
 //    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-7.4.5-log-1'
 }

--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
@@ -384,6 +384,9 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void moveToCenter( MogoLatLng latLng, boolean animate ) {
+        if ( mCurrentUI == EnumMapUI.Type_VR ) {
+            return;
+        }
        Logger.d( TAG, "move to center %s", latLng );
        if ( latLng == null || latLng.lat == 0.0d || latLng.lng == 0.0d ) {
            Logger.e( TAG, "latlng = null or is illegal" );
@@ -399,6 +402,11 @@ public class AMapViewWrapper implements IMogoMapView,
    @Override
    public void showMyLocation( boolean visible ) {
        Logger.d( TAG, "showMyLocation1 %s", visible );
+
+        if ( mCurrentUI == EnumMapUI.Type_VR ) {
+            return;
+        }
+
        if ( visible && NaviClient.getInstance( getContext() ).isNaviing() ) {
            return;
        }
@@ -463,8 +471,8 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void loseLockMode() {
-        if ( DebugConfig.isDebug() ) {
-            Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
+        if ( mCurrentUI == EnumMapUI.Type_VR ) {
+            return;
        }
        Logger.d( TAG, "解锁锁车" );
        mMapView.getMapAutoViewHelper().setLockMode( false );
@@ -519,6 +527,9 @@ public class AMapViewWrapper implements IMogoMapView,
    @Override
    public void setPointToCenter( double mapCenterX, double mapCenterY ) {
        if ( checkAMapView() ) {
+            if ( mCurrentUI == EnumMapUI.Type_VR ) {
+                return;
+            }
            Logger.d( TAG, "setPointToCenter(%s, %s)", mapCenterX, mapCenterY );
            mMapView.getMapAutoViewHelper().setPointToCenter( ( float ) mapCenterX, ( float ) mapCenterY );
        }
@@ -596,9 +607,6 @@ public class AMapViewWrapper implements IMogoMapView,
        }
        Logger.i( TAG, "showBounds:%s -%s-%s- %b ", tag, carPosition.toString(), bound.toShortString(), lockCarPosition );
        try {
-            if ( DebugConfig.isDebug() ) {
-                Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
-            }
            LatLngBounds latLngBounds = MogoMapUtils.getLatLngBounds( carPosition, lonLats, lockCarPosition );
            if ( !lockCarPosition ) {
                loseLockMode();
@@ -642,6 +650,9 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void setCarCursorOption( CarCursorOption option ) {
+        if ( mCurrentUI == EnumMapUI.Type_VR ) {
+            return;
+        }
        if ( mCarCursorOption != null && mCarCursorOption != DEFAULT_OPTION ) {
            mCarCursorOption.destroy();
        }
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java
@@ -100,12 +100,6 @@ class CustomMapApiBuilder implements IMogoMapApiBuilder {
                .setPointToCenter( 0.734375f, 0.5f )
                .setStyleMode( MapParams.MAP_STYLE_NIGHT ), NavParams.Companion.init() );
        MapAutoView mapAutoView = new MapAutoView(context);
-        Logger.w(TAG, "mapAutoView==" + mapAutoView);
-        try {
-            Thread.sleep(1000);
-        } catch (InterruptedException e) {
-            e.printStackTrace();
-        }
        IMogoMapView mapView = new AMapViewWrapper(mapAutoView);
        return mapView;
    }
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java
@@ -61,7 +61,6 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
            marker.setMObject( this );
            MarkerWrapperClickHelper.getInstance().setMogoMarkerMap( marker.getId(), this );
        }
-        marker.setSaveBitmapEnable( true );
        setObject( mogoMarkerOptions.getObject() );
        this.mMogoMarkerOptions = mogoMarkerOptions;
        mMogoMarkerOptions.addObserver( this );
@@ -141,12 +140,12 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
        if ( icons == null || icons.isEmpty() ) {
            return;
        }
-        ArrayList<BitmapDescriptor> descriptors = new ArrayList<>();
+        ArrayList< BitmapDescriptor > descriptors = new ArrayList<>();
        for ( Bitmap icon : icons ) {
            if ( icon == null || icon.isRecycled() ) {
                continue;
            }
-            descriptors.add( BitmapDescriptorFactory.INSTANCE.fromBitmap(icon));
+            descriptors.add( BitmapDescriptorFactory.INSTANCE.fromBitmap( icon ) );
        }
        if ( descriptors.isEmpty() ) {
            return;
@@ -265,16 +264,16 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
    @Override
    public void setOnMarkerClickListener( IMogoMarkerClickListener listener ) {
        mMogoMarkerClickListener = listener;
-        if ( mMarker != null ) {
-            mMarker.setOnMarkClickListener( new OnMarkClickListener() {
-                @Override
-                public void onMarkClick( @NotNull Marker marker ) {
-                    if ( mMogoMarkerClickListener != null ) {
-                        mMogoMarkerClickListener.onMarkerClicked( AMapMarkerWrapper.this );
-                    }
-                }
-            } );
-        }
+//        if ( mMarker != null ) {
+//            mMarker.setOnMarkClickListener( new OnMarkClickListener() {
+//                @Override
+//                public void onMarkClick( @NotNull Marker marker ) {
+//                    if ( mMogoMarkerClickListener != null ) {
+//                        mMogoMarkerClickListener.onMarkerClicked( AMapMarkerWrapper.this );
+//                    }
+//                }
+//            } );
+//        }
    }

    @Override
@@ -505,9 +504,14 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
    @Override
    public void use3DResource( int model3D ) {
        try {
-            mMarker.setMarkerOptions( mMarker.getMarkeOptions().marker3DIcon( model3D ) );
+            mMarker.setMarkerOptions( mMarker.getMarkeOptions().anchorColor("#00FF00").marker3DIcon( model3D ) );
        } catch ( Exception e ) {
            Logger.e( TAG, e, "use3DResource" );
        }
    }
+
+    @Override
+    public void setAnchorColor( String anchorColor ) {
+        mMarker.setMarkerOptions( mMarker.getMarkeOptions().anchorColor( anchorColor ) );
+    }
 }
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
@@ -1,6 +1,7 @@
 package com.mogo.map.impl.custom.utils;

 import android.graphics.Bitmap;
+import android.graphics.Color;
 import android.text.TextUtils;
 import android.view.View;

@@ -89,6 +90,11 @@ public class ObjectUtils {
        }
        if (opt.getIcon3DRes() != 0) {
            markerOptions.marker3DIcon(opt.getIcon3DRes());
+            try {
+                Color.parseColor(opt.getAnchorColor());
+                markerOptions.anchorColor( opt.getAnchorColor() );
+            } catch ( Exception e ) {
+            }
        }
        if (!TextUtils.isEmpty(opt.getTitle())) {
            markerOptions.title(opt.getTitle());
--- a/libraries/map-custom/src/main/res/drawable-xhdpi/map_api_ic_current_location2.png
+++ b/libraries/map-custom/src/main/res/drawable-xhdpi/map_api_ic_current_location2.png
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java
@@ -349,4 +349,12 @@ public interface IMogoMarker {
    default void use3DResource( @RawRes int model3D ) {

    }
+
+    /**
+     * 设置3D车模颜色
+     * @param anchorColor
+     */
+    default void setAnchorColor(String anchorColor){
+
+    }
 }
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
@@ -75,6 +75,7 @@ public class MogoMarkerOptions extends Observable {

    private @RawRes
    int mIcon3DRes = 0;
+    private String mAnchorColor;

    private boolean mIs3DMode = false;

@@ -233,6 +234,11 @@ public class MogoMarkerOptions extends Observable {
        return this;
    }

+    public MogoMarkerOptions anchorColor( String anchorColor ) {
+        this.mAnchorColor = anchorColor;
+        return this;
+    }
+
    public double getLatitude() {
        return latitude;
    }
@@ -334,6 +340,10 @@ public class MogoMarkerOptions extends Observable {
        return mIcon3DRes;
    }

+    public String getAnchorColor() {
+        return mAnchorColor;
+    }
+
    @Override
    public String toString() {
        return "MogoMarkerOptions{" +
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
@@ -13,10 +13,8 @@ import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.R;
-import com.mogo.module.common.constants.AdasRecognizedType;
 import com.mogo.module.common.constants.DataTypes;
 import com.mogo.service.adas.entity.ADASRecognizedListResult;
-import com.mogo.utils.ViewUtils;

 import java.util.ArrayList;
 import java.util.HashMap;
@@ -68,8 +66,6 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
    // adas marker 缓存
    private Map< String, IMogoMarker > mAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();

-    private boolean mIsVrMode = false;
-
    public void renderAdasRecognizedResult( List< ADASRecognizedListResult > resultList, boolean machineVision, double curSpeed ) {
        if ( resultList == null || resultList.isEmpty() ) {
            MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).removeMarkers( DataTypes.TYPE_MARKER_ADAS );
@@ -100,17 +96,6 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                    continue;
                }
                mAdasRecognizedMarkersCaches.put( uniqueKey, marker );
-            } else {
-                if ( mIsVrMode != MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
-                    mIsVrMode = MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode();
-                    if ( mIsVrMode ) {
-                        marker.getMogoMarkerOptions().set3DMode( true );
-                        marker.use3DResource( getVrModel() );
-                    } else {
-                        marker.getMogoMarkerOptions().set3DMode( false );
-                        marker.setIcon( ViewUtils.fromView( inflateView( recognizedListResult, machineVision, 0 ) ) );
-                    }
-                }
            }

            MogoLatLng lastPosition = mLastPositions.get( uniqueKey );
@@ -124,8 +109,6 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                    if ( latLon == null ) {
                        continue;
                    }
-//                    double targetPos[] = transformGcj02ToFitMap( latLon.lat, latLon.lon );
-//                    points.add( endLatLon = new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) );
                    points.add( endLatLon = new MogoLatLng( latLon.lat, latLon.lon ) );
                }

@@ -137,8 +120,6 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                    continue;
                }
                points.add( lastPosition );
-//                double targetPos[] = transformGcj02ToFitMap( latLon.lat, latLon.lon );
-//                points.add( endLatLon = new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) );
                points.add( endLatLon = new MogoLatLng( latLon.lat, latLon.lon ) );
            }
            mLastPositions.put( uniqueKey, endLatLon );
@@ -193,22 +174,13 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
            return null;
        }

-//        double targetPos[] = transformGcj02ToFitMap( recognizedListResult.latLonList.get( 0 ).lat, recognizedListResult.latLonList.get( 0 ).lon );
        MogoMarkerOptions options = new MogoMarkerOptions()
                .owner( DataTypes.TYPE_MARKER_ADAS )
                .anchor( 0.5f, 0.5f )
+                .set3DMode( true )
+                .icon3DRes( getVrModel() )
                .rotate( ( float ) recognizedListResult.heading )
-//                .position( new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) );
                .position( new MogoLatLng( recognizedListResult.latLonList.get( 0 ).lat, recognizedListResult.latLonList.get( 0 ).lon ) );
-
-        if ( mIsVrMode = MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
-            options.set3DMode( true );
-            options.icon3DRes( getVrModel() );
-        } else {
-            options.set3DMode( false );
-            options.icon( inflateView( recognizedListResult, machineVision, curSpeed ) );
-        }
-
        return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_ADAS, options );
    }

--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
@@ -1,7 +1,6 @@
 package com.mogo.module.common.drawer;

 import android.content.Context;
-import android.os.SystemClock;
 import android.text.TextUtils;
 import android.view.LayoutInflater;
 import android.view.View;
@@ -9,15 +8,20 @@ import android.widget.ImageView;

 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.map.MogoLatLng;
+import com.mogo.map.location.MogoLocation;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.IMogoMarkerClickListener;
 import com.mogo.map.marker.MogoMarkerOptions;
+import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.R;
 import com.mogo.module.common.api.CallChatApi;
 import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.entity.CloudRoadData;
 import com.mogo.module.common.entity.MogoSnapshotSetData;
+import com.mogo.service.statusmanager.IMogoStatusChangedListener;
+import com.mogo.service.statusmanager.StatusDescriptor;
+import com.mogo.utils.ThreadPoolService;
 import com.mogo.utils.ViewUtils;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.carchattingprovider.ICarsChattingProvider;
@@ -36,16 +40,19 @@ public
 *
 * 云端数据绘制
 */
-class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListener {
+class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListener, IMogoStatusChangedListener {

    private static final String TAG = "SnapshotSetDataDrawer";

    private static volatile SnapshotSetDataDrawer sInstance;

    private Context mContext;
+    private boolean mChangeCarModeStatus;

    private SnapshotSetDataDrawer() {
        mContext = AbsMogoApplication.getApp();
+        MogoApisHandler.getInstance().getApis()
+                .getStatusManagerApi().registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, this );
    }

    public static SnapshotSetDataDrawer getInstance() {
@@ -71,12 +78,42 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
    // 云端 marker 缓存
    private Map< String, IMogoMarker > mCloudSnapshotMarkersCaches = new ConcurrentHashMap<>();

-    private Map< String, MogoLatLng > mLastPositions = new ConcurrentHashMap<>();
+    private Map< String, CloudRoadData > mLastPositions = new ConcurrentHashMap<>();

    private boolean mIsVrMode = false;

-    private long mLastReceiveTime = 0L;
-    private long mAnimationDuration = 500L;
+//    private long mLastReceiveTime = 0L;
+//    private long mAnimationDuration = 500L;
+
+    @Override
+    public void onStatusChanged( StatusDescriptor descriptor, boolean isTrue ) {
+        Logger.d( TAG, "%s - %s", descriptor, isTrue );
+        mChangeCarModeStatus = true;
+        ThreadPoolService.execute( () -> {
+            clearOldStyleMarkers();
+        } );
+    }
+
+    private void clearOldStyleMarkers() {
+        try {
+            MogoApisHandler.getInstance().getApis()
+                    .getMapServiceApi().getMarkerManager( mContext )
+                    .removeMarkers( DataTypes.TYPE_MARKER_CLOUD_DATA );
+            mLastPositions.clear();
+            mCloudSnapshotMarkersCaches.clear();
+        } catch ( Exception e ) {
+        }
+        clearTargetTypeMarkers();
+    }
+
+    private void clearTargetTypeMarkers() {
+        try {
+            MogoApisHandler.getInstance().getApis()
+                    .getMapServiceApi().getMarkerManager( mContext )
+                    .removeMarkers( DataTypes.TYPE_MARKER_ADAS );
+        } catch ( Exception e ) {
+        }
+    }

    /**
     * 其他车辆、rsu 车辆数据
@@ -85,22 +122,20 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
     */
    public void renderSnapshotData( MogoSnapshotSetData data,
                                    boolean machineVision ) {
-        if ( mLastReceiveTime != 0 ) {
-            mAnimationDuration = SystemClock.elapsedRealtime() - mLastReceiveTime;
-        } else {
-            mAnimationDuration = 500L;
+        if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched() ) {
+            if ( !mCloudSnapshotMarkersCaches.isEmpty() ) {
+                clearOldStyleMarkers();
+            }
+            return;
        }
-        mLastReceiveTime = SystemClock.elapsedRealtime();
        if ( data == null || (
                ( data.getAllList() == null || data.getAllList().isEmpty() ) &&
                        ( data.getNearList() == null || data.getNearList().isEmpty() ) ) ) {
-            MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( AbsMogoApplication.getApp() ).removeMarkers( DataTypes.TYPE_MARKER_CLOUD_DATA );
+            clearOldStyleMarkers();
            return;
        }
-        filterData( data.getAllList() );
        List< CloudRoadData > allDatumsList = new ArrayList<>();
-        allDatumsList.addAll( data.getAllList() );
-        purgeCloudSnapshotData( allDatumsList );
+        prepareData( data.getAllList(), allDatumsList );
        for ( CloudRoadData cloudRoadData : allDatumsList ) {
            if ( cloudRoadData == null ) {
                continue;
@@ -121,7 +156,6 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
            if ( mCloudSnapshotMarkersCaches.containsKey( uniqueKey ) ) {
                marker = mCloudSnapshotMarkersCaches.get( uniqueKey );
            }
-            MogoLatLng target = new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() );
            if ( marker == null || marker.isDestroyed() ) {
                marker = drawSnapshotDataMarker( cloudRoadData, machineVision, data.curSpeed );
                if ( marker == null ) {
@@ -132,42 +166,66 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
                }
                mCloudSnapshotMarkersCaches.put( uniqueKey, marker );
            } else {
-                if ( mIsVrMode != MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
+                if ( mChangeCarModeStatus ) {
+                    mChangeCarModeStatus = false;
                    mIsVrMode = MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode();
                    if ( mIsVrMode ) {
-                        Logger.d( TAG, "3D模型" );
+                        Logger.d( TAG, "3D模型-%s", uniqueKey );
                        marker.getMogoMarkerOptions().set3DMode( true );
                        marker.use3DResource( getVrModel( cloudRoadData ) );
                    } else {
-                        Logger.d( TAG, "2D贴图" );
+                        Logger.d( TAG, "2D贴图-%s", uniqueKey );
                        marker.getMogoMarkerOptions().set3DMode( false );
                        marker.setIcon( ViewUtils.fromView( inflateView( cloudRoadData, machineVision, 0 ) ) );
                    }
                }

-                MogoLatLng lastPosition = mLastPositions.get( uniqueKey );
-//                double targetPos[] = transformGcj02ToFitMap( target.lat, target.lon );
-//                double lastPos[] = transformGcj02ToFitMap( lastPosition.lat, lastPosition.lon );
+                CloudRoadData lastPosition = mLastPositions.get( uniqueKey );
                if ( lastPosition != null ) {
-                    if ( lastPosition.equals( target ) ) {
+                    if ( lastPosition.equals( cloudRoadData ) ) {
+                        if ( ( ( int ) cloudRoadData.getSpeed() ) == 0 ) {
+                            MapCameraPosition position = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getMapCameraPosition();
+                            if ( position != null ) {
+                                marker.setRotateAngle( 360 - ( float ) cloudRoadData.getHeading() - position.getBearing() );
+                            } else {
+                                marker.setRotateAngle( 360 - ( float ) cloudRoadData.getHeading() );
+                            }
+                        }
                        Logger.d( TAG, "保持位置 - %s", uniqueKey );
-                        marker.setPosition( lastPosition.lat, lastPosition.lon );
+                        marker.setPosition( lastPosition.getLat(), lastPosition.getLon() );
                    } else {
                        List< MogoLatLng > points = new ArrayList<>();
-                        points.add( new MogoLatLng( lastPosition.lat, lastPosition.lon ) );
-                        points.add( new MogoLatLng( target.lat, target.lon ) );
-                        marker.startSmoothInMs( points, mAnimationDuration );
-                        Logger.d( TAG, "平滑移动 - %s duration = %s", uniqueKey, mAnimationDuration );
+                        points.add( new MogoLatLng( lastPosition.getLat(), lastPosition.getLon() ) );
+                        points.add( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) );
+                        marker.startSmoothInMs( points, cloudRoadData.getSystemTime() - lastPosition.getSystemTime() );
+                        Logger.d( TAG, "平滑移动 - %s duration = %s", uniqueKey, cloudRoadData.getSystemTime() - lastPosition.getSystemTime() );
                    }
                } else {
-                    marker.setRotateAngle( 360 - ( float ) cloudRoadData.getHeading() );
-                    marker.setPosition( target.lat, target.lon );
+                    MapCameraPosition position = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getMapCameraPosition();
+                    if ( position != null ) {
+                        marker.setRotateAngle( 360 - ( float ) cloudRoadData.getHeading() - position.getBearing() );
+                    } else {
+                        marker.setRotateAngle( 360 - ( float ) cloudRoadData.getHeading() );
+                    }
+                    marker.setPosition( cloudRoadData.getLat(), cloudRoadData.getLon() );
                }
            }
-            mLastPositions.put( uniqueKey, target );
+            mLastPositions.put( uniqueKey, cloudRoadData );
        }
    }

+    /**
+     * 过滤数据
+     *
+     * @param in  输入集合
+     * @param out 输出集合
+     */
+    private void prepareData( List< CloudRoadData > in, List< CloudRoadData > out ) {
+        filterData( in );
+        out.addAll( in );
+        purgeCloudSnapshotData( out );
+    }
+
    /**
     * vr 模式下显示合并数据，否则只显示上报位置的车辆
     *
@@ -245,21 +303,20 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
        }

        Logger.d( TAG, "draw marker uniqueKey = %s", data.getUniqueKey() );
-//        double coor[] = transformGcj02ToFitMap( data.getLat(), data.getLon() );
        MogoMarkerOptions options = new MogoMarkerOptions()
                .owner( DataTypes.TYPE_MARKER_CLOUD_DATA )
                .anchor( 0.5f, 0.5f )
                .rotate( ( float ) data.getHeading() )
                .object( data )
-//                .position( new MogoLatLng( coor[POS_LAT], coor[POS_LON] ) );
                .position( new MogoLatLng( data.getLat(), data.getLon() ) );
-        if ( mIsVrMode = MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
+        if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
            options.set3DMode( true );
-            Logger.d( TAG, "3D模型" );
+            options.anchorColor( "#00FF00" );
+            Logger.d( TAG, "3D模型 - %s", data.getUniqueKey() );
            options.icon3DRes( getVrModel( data ) );
        } else {
            options.set3DMode( false );
-            Logger.d( TAG, "2D贴图" );
+            Logger.d( TAG, "2D贴图 - %s", data.getUniqueKey() );
            options.icon( inflateView( data, machineVision, curSpeed ) );
        }
        return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_CLOUD_DATA, options );
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/marker/RoadConditionInfoWindow3DAdapter.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/marker/RoadConditionInfoWindow3DAdapter.java
@@ -7,6 +7,7 @@ import com.mogo.map.marker.IMogoInfoWindowAdapter;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.module.common.entity.MarkerShowEntity;
+import com.mogo.utils.logger.Logger;

 public
 /**
@@ -17,6 +18,8 @@ public
 */
 class RoadConditionInfoWindow3DAdapter implements IMogoInfoWindowAdapter {

+    private static final String TAG = "RoadConditionInfoWindow3DAdapter";
+
    private MarkerShowEntity mEntity;
    private Context mContext;
    private MogoMarkerOptions mOptions;
@@ -31,6 +34,7 @@ class RoadConditionInfoWindow3DAdapter implements IMogoInfoWindowAdapter {

    @Override
    public View getInfoWindow( IMogoMarker marker ) {
+        Logger.d( TAG, "创建marker的infowindow" );
        IMarkerView creator = MapMarkerAdapter.getMarkerInfoWindowView( mContext, mEntity, mOptions );
        return creator.getView();
    }
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
@@ -3,6 +3,7 @@ package com.mogo.module.common.entity;
 import android.os.Parcel;
 import android.os.Parcelable;

+import com.mogo.map.MogoLatLng;
 import com.mogo.utils.CoordinateUtils;

 import java.util.Objects;
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java
@@ -133,7 +133,7 @@ public class CloudRoadData implements Parcelable {
        this.coordinates = coordinates;
    }

-    public void setUuid(String uuid) {
+    public void setUuid( String uuid ) {
        this.uuid = uuid;
    }

@@ -222,4 +222,19 @@ public class CloudRoadData implements Parcelable {
            return new CloudRoadData[size];
        }
    };
+
+    @Override
+    public boolean equals( Object o ) {
+        if ( this == o ) {
+            return true;
+        }
+        if ( o == null || getClass() != o.getClass() ) {
+            return false;
+        }
+        CloudRoadData that = ( CloudRoadData ) o;
+        return Double.compare( that.lat, lat ) == 0 &&
+                Double.compare( that.lon, lon ) == 0;
+    }
+
+
 }
--- a/modules/mogo-module-common/src/main/res/raw/car.n3d
+++ b/modules/mogo-module-common/src/main/res/raw/car.n3d
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
@@ -346,7 +346,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
        initDebugPanel();

        // 根据本地配置设置自车图标
-        MyLocationUtil.setMyLocationIconUrl( getContext() );
+        MyLocationUtil.setMyLocationIconUrl(getContext());
    }

    private int debugPanelClickCount = 0;
@@ -356,14 +356,14 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
    private Group groupFix;

    private void enterVrMode() {
-        if(!localIsVrMode) {
+        if (!localIsVrMode) {
 //        tvEnterVrMode.setVisibility(View.GONE);
            mMove2CurrentLocation.setVisibility(View.GONE);
            mUploadRoadCondition.setVisibility(View.GONE);
            mWeatherContainer.setVisibility(View.GONE);
            mMsgContainer.setVisibility(View.GONE);
            groupUserHead.setVisibility(View.GONE);
-
+            seekHelpGroup.setVisibility(View.GONE);
 //        tvExitVrMode.setVisibility(View.VISIBLE);
            TopViewAnimHelper.getInstance().enterVrMode();
            TopViewNoLinkageAnimHelper.getInstance().enterVrMode();
@@ -378,12 +378,13 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
    }

    private void exitVrMode() {
-        if(localIsVrMode) {
+        if (localIsVrMode) {
            EntranceViewHolder.getInstance().forceHideNoticeView();
 //        tvEnterVrMode.setVisibility(View.VISIBLE);
            mMove2CurrentLocation.setVisibility(View.VISIBLE);
            mUploadRoadCondition.setVisibility(View.VISIBLE);
            groupUserHead.setVisibility(View.VISIBLE);
+            seekHelpGroup.setVisibility(View.VISIBLE);
 //        mWeatherContainer.setVisibility(View.VISIBLE);
 //        mMsgContainer.setVisibility(View.VISIBLE);

@@ -845,7 +846,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
                } else {
                    exitVrMode();
                }
-            } catch( Exception e ){
+            } catch (Exception e) {
                e.printStackTrace();
            }

@@ -1039,7 +1040,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
    }

    private static final int SEEK_HELP_NOTICE_NUM_MSG_TYPE = 401015;
-
+    //求助已通知周围XX位车主
    private final IMogoOnMessageListener<String> seekHelpNoticeListener =
            new IMogoOnMessageListener<String>() {
                @Override
@@ -1054,7 +1055,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
                        final int finalSeekNum = seekNum++;
                        SharedPrefsMgr.getInstance(getContext()).putInt("seek_help_num", seekNum);
                        handler.post(() -> {
-                            seekHelpGroup.setVisibility(View.VISIBLE);
+                            seekHelpGroup.setVisibility(localIsVrMode ? View.INVISIBLE : View.VISIBLE);
                            seekHelpNum.setText("" + finalSeekNum);
                        });
                    }
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceProvider.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceProvider.java
@@ -28,13 +28,11 @@ import com.mogo.service.module.ModuleType;
@Route( path = MogoModulePaths.PATH_ENTRANCE )
 public class EntranceProvider implements IMogoModuleProvider {

-    EntranceFragment mFragment;
-
    @Override
    public Fragment createFragment( Context context, Bundle data ) {
-        mFragment = new EntranceFragment();
+        EntranceFragment mFragment = new EntranceFragment();
        mFragment.setArguments( data );
-        ExtensionServiceManager.init(context);
+        ExtensionServiceManager.init( context );
        return mFragment;
    }

@@ -76,7 +74,7 @@ public class EntranceProvider implements IMogoModuleProvider {

    @Override
    public void init( Context context ) {
-        ExtensionServiceManager.init(context);
+        ExtensionServiceManager.init( context );
    }

    @Override
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/EntranceViewHolder.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/EntranceViewHolder.java
@@ -272,6 +272,8 @@ public class EntranceViewHolder {

    public void release(){
        rootViewGroup = null;
+        featureViewGroup = null;
+        leftNoticeContainer = null;
    }

 }
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/TopViewAnimHelper.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/TopViewAnimHelper.java
@@ -199,6 +199,16 @@ public class TopViewAnimHelper {
        if (params == null) {
            throw new IllegalArgumentException("method addTopView params LayoutParams is null");
        }
+
+        if (isOuting) {
+            if (motionViewCache != null) {
+                motionViewCache.statusListener.beforeViewRemoveAnim(motionViewCache.view);
+                motionViewCache.statusListener.onViewRemoved(motionViewCache.view);
+            }
+            motionViewCache = new MotionViewCache(view, params, statusListener);
+//            return;
+        }
+
        if (!viewCaches.contains(view)) {
            // 判断此view是否已经增加到了顶部view，如果增加过就不增加了
            currentAnimatingView = view;
@@ -278,6 +288,9 @@ public class TopViewAnimHelper {
                // 顶部view还没有内容，需要整体下移
                viewCaches.add(view);
                topContainer.addView(view, params);
+                LayoutParams p = topContainer.getLayoutParams();
+                p.height = params.height;
+                topContainer.setLayoutParams(p);
                Logger.d(TAG, "整体进入==== view.visibility: " + view.getVisibility() + "  view" +
                        ".position: (" + view.getX() + ", " + view.getY() + ") params.width: " + params.width + "  params.height: " + params.height);
                if (statusListenerMap.get(view) != null) {
@@ -333,6 +346,7 @@ public class TopViewAnimHelper {
        }
        Logger.d("TopViewAnimHelper", "startTopOutAnim=====");
        if (!isTopViewOut && viewCaches.contains(view)) {
+            isOuting = true;
            // 顶部view仅剩一个view，需要整体上移
            if (statusListenerMap.get(view) != null) {
                statusListenerMap.get(view).beforeViewRemoveAnim(view);
@@ -341,7 +355,7 @@ public class TopViewAnimHelper {

            NoMapTopViewShaderHelper.getInstance().hideShader();

-            topContainer.animate().translationY(-topContainer.getTranslationY()).setListener(mainAnimListener).start();
+            topContainer.animate().translationY(0).setListener(mainAnimListener).start();

            checkCameraModePosition(false);

@@ -459,6 +473,8 @@ public class TopViewAnimHelper {
        topMotionLayout = null;
        topContainer = null;
        cameraMode = null;
+        animNavInfoView = null;
+        vrModeNavInfoView = null;
    }

    public void enterVrMode() {
@@ -498,6 +514,11 @@ public class TopViewAnimHelper {
                }
                topContainer.removeAllViews();
                currentAnimatingView = null;
+                isOuting = false;
+//                if (motionViewCache != null) {
+//                    startTopInAnim(motionViewCache.view, motionViewCache.params, motionViewCache.statusListener);
+//                    motionViewCache = null;
+//                }
            } else {
                listener = statusListenerMap.get(currentAnimatingView);
                if (listener != null) {
@@ -518,4 +539,21 @@ public class TopViewAnimHelper {
        }
    };

+
+    private MotionViewCache motionViewCache = null;
+    private boolean isOuting = false;
+
+    private static class MotionViewCache {
+        private final View view;
+        private final LayoutParams params;
+        private final IMogoTopViewStatusListener statusListener;
+
+        public MotionViewCache(View view, LayoutParams params, IMogoTopViewStatusListener statusListener) {
+            this.view = view;
+            this.params = params;
+            this.statusListener = statusListener;
+        }
+
+    }
+
 }
--- 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
@@ -25,6 +25,7 @@ import com.mogo.module.main.service.MogoMainService;
 import com.mogo.module.main.windowview.FloatingViewHandler;
 import com.mogo.service.IMogoServiceApis;
 import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
+import com.mogo.service.fragmentmanager.FragmentStackTransactionListener;
 import com.mogo.service.fragmentmanager.IMogoFragmentManager;
 import com.mogo.service.module.IMogoModuleProvider;
 import com.mogo.service.statusmanager.IMogoStatusManager;
@@ -45,7 +46,8 @@ import java.util.List;
 */
 public class MainActivity extends MvpActivity< MainView, MainPresenter > implements MainView,
        IMogoLocationListener,
-        IMogoADASControlStatusChangedListener {
+        IMogoADASControlStatusChangedListener,
+        FragmentStackTransactionListener {

    protected static final String TAG = MainActivity.class.getSimpleName();

@@ -184,14 +186,16 @@ public class MainActivity extends MvpActivity< MainView, MainPresenter > impleme
        mMogoFragmentManager = mServiceApis.getFragmentManagerApi();
        mMogoFragmentManager.init( this, R.id.module_main_id_search_fragment );
        mMogoFragmentManager.initMessageHistoryContainerId( R.id.module_main_id_message_history_fragment_container );
-        mMogoFragmentManager.registerMainFragmentStackTransactionListener( ( size ) -> {
-            if ( size == 0 ) {
-                showLayout();
-            } else if ( size == 1 ) {
-                hideLayout();
-            }
-        } );
+        mMogoFragmentManager.registerMainFragmentStackTransactionListener( this );
+    }

+    @Override
+    public void onTransaction( int size ) {
+        if ( size == 0 ) {
+            showLayout();
+        } else if ( size == 1 ) {
+            hideLayout();
+        }
    }

    private void resetMapUiStyle(){
@@ -359,6 +363,7 @@ public class MainActivity extends MvpActivity< MainView, MainPresenter > impleme
        mServiceApis.getMapServiceApi().getHostListenerRegister().unregisterHostAimlessModeListener();
        mServiceApis.getMapServiceApi().getHostListenerRegister().unregisterHostNaviListener();
        mServiceApis.getMapServiceApi().getHostListenerRegister().unregisterHostMapListener();
+        mServiceApis.getRegisterCenterApi().unregisterADASControlStatusChangedListener( TAG );
        mMogoStatusManager.setMainPageLaunchedStatus( TAG, false );
        mMogoStatusManager.setMainPageIsBackgroundStatus( TAG, false );
        mMogoFragmentManager.unregisterMainFragmentStackTransactionListener();
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
@@ -158,12 +158,6 @@ public class MapMarkerManager implements IMogoMarkerClickListener,

                        @Override
                        public void onMsgReceived( MogoSnapshotSetData data ) {
-                            if ( data == null ) {
-                                return;
-                            }
-                            if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched() ) {
-                                return;
-                            }
 //                            if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
 ////                            return;
 //                            }
--- a/modules/mogo-module-share/src/main/java/com/mogo/module/share/ShareControl.java
+++ b/modules/mogo-module-share/src/main/java/com/mogo/module/share/ShareControl.java
@@ -16,6 +16,7 @@ import com.mogo.module.authorize.authprovider.invoke.AuthorizeConstant;
 import com.mogo.module.authorize.authprovider.invoke.AuthorizeInvokerConstant;
 import com.mogo.module.authorize.authprovider.module.IMogoAcquireAuthorizeListener;
 import com.mogo.module.authorize.authprovider.module.IMogoAuthorizeModuleManager;
+import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.dialog.BaseFloatDialog;
 import com.mogo.module.common.utils.CloudPoiManager;
 import com.mogo.module.share.bean.FixableButton;
@@ -192,13 +193,13 @@ public class ShareControl implements IMogoShareManager, Handler.Callback {
 //        if (!DebugConfig.isLauncher()) {
        ServiceApisManager.serviceApis.getStatusManagerApi().registerStatusChangedListener(TAG,
                StatusDescriptor.MAIN_PAGE_RESUME, new IMogoStatusChangedListener() {
-            @Override
-            public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
-                if (!isTrue) {
-                    dismissShareDialog();
-                }
-            }
-        });
+                    @Override
+                    public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
+                        if (!isTrue) {
+                            dismissShareDialog();
+                        }
+                    }
+                });
 //        }

 //        if (!DebugConfig.isLauncher()) {
@@ -299,6 +300,9 @@ public class ShareControl implements IMogoShareManager, Handler.Callback {
                    }
                    break;
                case VOICE_CMD_PUB_TROUBLE_HELP:
+                    if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+                        return;
+                    }
                    if (needAuth()) {
                        goAuth(STEP_AFTER_AUTH_TYPE_SEEK_HELP, TYPE_DENSE_FOG, false);
                    } else {
--- a/modules/mogo-module-share/src/main/java/com/mogo/module/share/TanluServiceManager.java
+++ b/modules/mogo-module-share/src/main/java/com/mogo/module/share/TanluServiceManager.java
@@ -7,6 +7,7 @@ import com.mogo.map.location.IMogoLocationClient;
 import com.mogo.map.navi.IMogoAimless;
 import com.mogo.map.search.poisearch.IMogoPoiSearch;
 import com.mogo.map.search.poisearch.query.MogoPoiSearchQuery;
+import com.mogo.module.common.MogoApisHandler;
 import com.mogo.service.IMogoServiceApis;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.service.analytics.IMogoAnalytics;
@@ -35,7 +36,7 @@ public class TanluServiceManager {
    private static IMogoAimless mIMogoAimless;

    public static void init(Context context) {
-        mServiceApis = (IMogoServiceApis) ARouter.getInstance().build(MogoServicePaths.PATH_SERVICE_APIS).navigation(context);
+        mServiceApis = MogoApisHandler.getInstance().getApis();
        mMapService = mServiceApis.getMapServiceApi();
        mIMogoStatusManager = mServiceApis.getStatusManagerApi();
        mAnalytics = mServiceApis.getAnalyticsApi();
--- a/modules/mogo-module-share/src/main/java/com/mogo/module/share/constant/ShareConstants.java
+++ b/modules/mogo-module-share/src/main/java/com/mogo/module/share/constant/ShareConstants.java
@@ -23,7 +23,7 @@ public class ShareConstants {
    // 此处只记录了事故、实时路况、道路积水、道路结冰、浓雾,至于拥堵、交通检查和封路是在extention模块里面管理

    public static final String VOICE_CMD_PUB_TROUBLE_HELP = "com.zhidao.auxiliaryDriving" +
-            ".pubTroubleHelp";
+            ".pubTroubleHelp";/*唤醒词 发起故障求助*/
    public static final String VOICE_CMD_GO_TO_SHARE = "com.zhidao.share";

    public static final String TAG = "/tanlu/ui";
--- 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
@@ -13,6 +13,7 @@ import androidx.localbroadcastmanager.content.LocalBroadcastManager;

 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.map.location.MogoLocation;
+import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.entity.V2XMessageEntity;
 import com.mogo.module.common.entity.V2XObuEventEntity;
 import com.mogo.module.common.entity.V2XPushMessageEntity;
@@ -178,6 +179,10 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
    @Override
    public void onEventInfoCallback(MogoObuEventInfo info) {
        Logger.d("V2X_OBU_EVENT", "carEventInfo==" + info);
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            Logger.d("V2X_OBU_EVENT","vr模式下不展示obu事件");
+            return;
+        }
        Long last = intervalMap.get(info.getTypeCode());
        if (last == null) {
            last = 0L;
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/fragment/V2XEventPanelFragment.kt
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/fragment/V2XEventPanelFragment.kt
@@ -271,6 +271,7 @@ class V2XEventPanelFragment : MvpFragment<V2XEventPanelFragment, EventPanelPrese
        mediator?.detach()
        // 避免内存泄漏
        fragment = null
+        mClPanelContainer = null
        super.onDestroyView()
    }

--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/fragment/V2XScenarioHistoryFragment.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/fragment/V2XScenarioHistoryFragment.java
@@ -44,6 +44,7 @@ public class V2XScenarioHistoryFragment
    private RecyclerView mRecyclerView;
    private V2XScenarioHistoryAdapter mV2XScenarioHistoryAdapter;
    private ArrayList<V2XHistoryScenarioData> mV2XHistoryScenarioData = new ArrayList<>();
+    private IMoGoV2XStatusChangedListener mListener;

    @Override
    protected int getLayoutId() {
@@ -88,24 +89,25 @@ public class V2XScenarioHistoryFragment
        });


+        mListener = new IMoGoV2XStatusChangedListener() {
+            @Override
+            public void onStatusChanged( V2XStatusDescriptor descriptor, boolean isTrue ) {
+                Logger.d( TAG, descriptor + " initViews --------> " + isTrue );
+                if ( descriptor == V2XStatusDescriptor.EventPanelWindow_UI ) {
+                    mPresenter.loadHistory();
+                }
+            }
+
+            @Override
+            public void init( Context context ) {
+                Logger.d( TAG, "init --------> " );
+            }
+        };
        V2XServiceManager.getMoGoV2XStatusManager()
                .registerStatusChangedListener(
                        TAG,
                        V2XStatusDescriptor.EventPanelWindow_UI,
-                        new IMoGoV2XStatusChangedListener() {
-                            @Override
-                            public void onStatusChanged(V2XStatusDescriptor descriptor, boolean isTrue) {
-                                Logger.d(TAG, descriptor + " initViews --------> " + isTrue);
-                                if (descriptor == V2XStatusDescriptor.EventPanelWindow_UI) {
-                                    mPresenter.loadHistory();
-                                }
-                            }
-
-                            @Override
-                            public void init(Context context) {
-                                Logger.d(TAG, "init --------> ");
-                            }
-                        });
+                        mListener );
    }

    /**
@@ -180,4 +182,13 @@ public class V2XScenarioHistoryFragment
    protected ScenarioHistoryPresenter createPresenter() {
        return new ScenarioHistoryPresenter(this);
    }
+
+    @Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        V2XServiceManager.getMoGoV2XStatusManager().unregisterStatusChangedListener( TAG,
+                V2XStatusDescriptor.EventPanelWindow_UI,
+                mListener
+        );
+    }
 }
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -118,6 +118,9 @@ public class MogoADASController implements IMogoADASController {
            if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
                return;
            }
+            if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched() ) {
+                return;
+            }
            handleAdasRecognizedData( rectInfo );
        }

@@ -179,9 +182,6 @@ public class MogoADASController implements IMogoADASController {
    }

    private void invokeCallbackPerSecond( List< RectInfo > data ) {
-        if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched() ) {
-            return;
-        }
        List< RectInfo > newRef = data;
        List< ADASRecognizedListResult > recognizedListResults = AdasObjectUtils.regroupData( newRef );
        if ( recognizedListResults == null || recognizedListResults.isEmpty() ) {
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/singleton/SingletonsHolder.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/singleton/SingletonsHolder.java
@@ -12,8 +12,7 @@ import com.mogo.service.map.IMogoMapService;
 import com.mogo.service.network.IMogoNetwork;
 import com.mogo.service.statusmanager.IMogoMsgCenter;
 import com.mogo.service.statusmanager.IMogoStatusManager;
-import com.mogo.service.windowview.IMogoTopViewManager;
-import com.mogo.utils.logger.Logger;
+import com.mogo.service.strategy.IMogoRefreshStrategyController;

 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
@@ -36,10 +35,10 @@ public class SingletonsHolder {
        sSingletons.put( IMogoNetwork.class, new MogoNetWorkService() );
        sSingletons.put( IMogoMsgCenter.class, new MogoMsgCenter() );
        sSingletons.put( IMogoStatusManager.class, new MogoStatusManager() );
-        sSingletons.put( IMogoTopViewManager.class, ARouter.getInstance().navigation( IMogoTopViewManager.class ) );
+        sSingletons.put( IMogoRefreshStrategyController.class, ARouter.getInstance().navigation( IMogoRefreshStrategyController.class ) );
    }

-    public static < T > T get( Class<T> clazz ) {
+    public static < T > T get( Class< T > clazz ) {
        return ( T ) sSingletons.get( clazz );
    }

--- a/skin/skin-support/src/main/java/skin/support/SkinCompatManager.java
+++ b/skin/skin-support/src/main/java/skin/support/SkinCompatManager.java
@@ -154,7 +154,6 @@ public class SkinCompatManager extends SkinObservable {

    public static void destroy(){
        sInstance.onDestroy();
-        sInstance = null;
    }

    public void onDestroy(){
--- a/skin/skin-support/src/main/java/skin/support/app/SkinCompatDelegate.java
+++ b/skin/skin-support/src/main/java/skin/support/app/SkinCompatDelegate.java
@@ -70,12 +70,16 @@ public class SkinCompatDelegate implements LayoutInflater.Factory2 {
        }

        List<SkinWrapper> wrapperList = SkinCompatManager.getInstance().getWrappers();
-        for (SkinWrapper wrapper : wrapperList) {
-            Context wrappedContext = wrapper.wrapContext(mContext, parent, attrs);
-            if (wrappedContext != null) {
-                context = wrappedContext;
+
+        if ( wrapperList != null ) {
+            for (SkinWrapper wrapper : wrapperList) {
+                Context wrappedContext = wrapper.wrapContext(mContext, parent, attrs);
+                if (wrappedContext != null) {
+                    context = wrappedContext;
+                }
            }
        }
+
        return mSkinCompatViewInflater.createView(parent, name, context, attrs);
    }