diff --git a/app/proguard-rules.pro b/app/proguard-rules.pro
index 5fb51b1544..5da3d57d2c 100644
--- a/app/proguard-rules.pro
+++ b/app/proguard-rules.pro
@@ -424,7 +424,7 @@
 -keep class org.conscrypt.HandshakeListener{*;}
 -keep class org.conscrypt.BufferAllocator{*;}
 -keep class com.squareup.haha.guava.collect.*{*;}
-
+-keep class **.zego.**{*;}
 
 
 
diff --git a/core/function-impl/mogo-core-function-check/src/main/res/layout/check_list.xml b/core/function-impl/mogo-core-function-check/src/main/res/layout/check_list.xml
index 1f27d8e35e..22013e4c85 100644
--- a/core/function-impl/mogo-core-function-check/src/main/res/layout/check_list.xml
+++ b/core/function-impl/mogo-core-function-check/src/main/res/layout/check_list.xml
@@ -63,7 +63,7 @@
             android:layout_gravity="center"
             android:layout_marginTop="@dimen/dp_20"
             android:gravity="center"
-            android:text="连接异常"
+            android:text="暂无数据"
             android:textColor="@color/check_icon_error_color"
             android:textSize="@dimen/dp_36"
             app:layout_constraintTop_toTopOf="@+id/icon_auto_title" />
diff --git a/core/function-impl/mogo-core-function-check/src/main/res/layout/check_titel.xml b/core/function-impl/mogo-core-function-check/src/main/res/layout/check_titel.xml
index 9d3659b274..c4b8bc1ebf 100644
--- a/core/function-impl/mogo-core-function-check/src/main/res/layout/check_titel.xml
+++ b/core/function-impl/mogo-core-function-check/src/main/res/layout/check_titel.xml
@@ -24,7 +24,7 @@
         android:layout_height="wrap_content"
         android:layout_marginLeft="@dimen/dp_65"
         android:layout_marginTop="@dimen/dp_20"
-        android:text="连接异常，请关闭重试"
+        android:text="暂无数据，请关闭重试"
         android:textColor="@color/module_commons_wm_dialog_text_textColor"
         android:textSize="@dimen/dp_64"
         app:layout_constraintLeft_toRightOf="@+id/check_tip_image"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/camera/CameraListView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/camera/CameraListView.kt
index fcc51df921..26ea51d796 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/camera/CameraListView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/camera/CameraListView.kt
@@ -148,13 +148,18 @@ class CameraListView : FrameLayout {
                 Logger.d(TAG, "onPlayEvent: event is:$event")
                 when (event) {
                     SimpleVideoPlayer.PLAY_EVT_PLAY_LOADING -> {
-
+                        // 会出现临时中断后又可以继续播放，需要停掉倒计时
+                        if (valueAnimator.isStarted || valueAnimator.isRunning) {
+                            valueAnimator.cancel()
+                        }
                     }
                     SimpleVideoPlayer.PLAY_EVT_PLAY_BEGIN -> {
-                        clickListener?.onShowLive(true)
-                        progressBar.visibility = View.GONE
-                        svpPlayer.visibility = View.VISIBLE
-                        isPlaySuccess = true
+                        if (!isFirstPage && !isCarLive()) {
+                            clickListener?.onShowLive(true)
+                            progressBar.visibility = View.GONE
+                            svpPlayer.visibility = View.VISIBLE
+                            isPlaySuccess = true
+                        }
                     }
                     else -> {
                         Logger.w(TAG, "播放视频异常,event is:$event")
@@ -195,6 +200,7 @@ class CameraListView : FrameLayout {
                         clickListener?.refreshCameraList()
                         clickListener?.onShowLive(false)
                     }
+                    isFirstPage = true
                     isPlaySuccess = false
                 }
                 else -> {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/NoticeTrafficDialog.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/NoticeTrafficDialog.java
index 01f75b5c54..c11ff09f3f 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/NoticeTrafficDialog.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/NoticeTrafficDialog.java
@@ -12,6 +12,7 @@ import androidx.lifecycle.LifecycleObserver;
 import androidx.recyclerview.widget.RecyclerView;
 import androidx.recyclerview.widget.StaggeredGridLayoutManager;
 
+import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo;
@@ -177,12 +178,14 @@ public class NoticeTrafficDialog extends BaseFloatDialog implements LifecycleObs
         AutopilotControlParameters parameters = new AutopilotControlParameters();
         parameters.isSpeakVoice = false;
         parameters.vehicleType = 10;
+        //云平台使用的是火星坐标,自动驾驶需要wgs84
+        double[] gcj02 = CoordinateUtils.transformGcj02toWgs84(mTrafficStyleInfo.getLat(),mTrafficStyleInfo.getLon());
         AutopilotControlParameters.AutoPilotLonLat startLocation = new AutopilotControlParameters.AutoPilotLonLat
                 (MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(),
                         MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat());
         parameters.startLatLon = startLocation;
         AutopilotControlParameters.AutoPilotLonLat endLocation = new AutopilotControlParameters.AutoPilotLonLat
-                (mTrafficStyleInfo.getLon(), mTrafficStyleInfo.getLat());
+                (gcj02[0],gcj02[1]);
         parameters.endLatLon = endLocation;
         CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
     }
diff --git a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
index 298f21b037..cb5619e798 100644
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
@@ -458,28 +458,29 @@ class MogoPrivateObuManager private constructor() {
 
         // (5) 限速预警信息：CVX_SLW_THREAT_IND
         override fun onCvxSlwThreatIndInfo(info: CvxSlwThreatIndInfo?) {
-            Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxSlwThreatIndInfo ------> $info")
-            if (info != null) {
-                when (info.status) {
-                    // 添加
-                    ObuConstants.STATUS.ADD,
-                    ObuConstants.STATUS.UPDATE
-                    -> {
-                        if (info.ext_info != null) {
-                            // 计算为千米每小时 TODO 这里需要做一下向上取整数，40，60，80，120等
-                            Logger.d(
-                                MogoObuConst.TAG_MOGO_OBU,
-                                "info.ext_info.speed_limit_max ------> ${info.ext_info.speed_limit_max}"
-                            )
-                            CallerHmiManager.showLimitingVelocity((Math.round(((info.ext_info.speed_limit_max * 60 * 60) / 1000) / 10) * 10).toInt())
-                        }
-                    }
-                    // 删除
-                    ObuConstants.STATUS.DELETE -> {
-                        CallerHmiManager.disableLimitingVelocity()
-                    }
-                }
-            }
+            //todo 限速走高精地图  屏蔽OBU限速\
+//            Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxSlwThreatIndInfo ------> $info")
+//            if (info != null) {
+//                when (info.status) {
+//                    // 添加
+//                    ObuConstants.STATUS.ADD,
+//                    ObuConstants.STATUS.UPDATE
+//                    -> {
+//                        if (info.ext_info != null) {
+//                            // 计算为千米每小时 TODO 这里需要做一下向上取整数，40，60，80，120等
+//                            Logger.d(
+//                                MogoObuConst.TAG_MOGO_OBU,
+//                                "info.ext_info.speed_limit_max ------> ${info.ext_info.speed_limit_max}"
+//                            )
+//                            CallerHmiManager.showLimitingVelocity((Math.round(((info.ext_info.speed_limit_max * 60 * 60) / 1000) / 10) * 10).toInt())
+//                        }
+//                    }
+//                    // 删除
+//                    ObuConstants.STATUS.DELETE -> {
+//                        CallerHmiManager.disableLimitingVelocity()
+//                    }
+//                }
+//            }
         }
 
 
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
index fafd9c6d4e..d8d1f500ba 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
@@ -1,15 +1,18 @@
 package com.mogo.eagle.core.function.v2x.redlightwarning
 
+import android.location.Location
+import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.trafficlight.*
 import com.mogo.eagle.core.data.trafficlight.TrafficLightStatusHelper.getCurrentRoadTrafficLight
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.api.vip.IMoGoVipSetListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
 import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.vip.CallVipSetListenerManager
-import com.mogo.eagle.core.utilcode.util.SPUtils
+import com.mogo.eagle.core.function.v2x.vip.VipCarManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.map.navi.IMogoCarLocationChangedListener2
+import com.mogo.module.common.MogoApisHandler
 import com.mogo.module.common.enums.EventTypeEnum
 import com.mogo.utils.logger.Logger
 import kotlin.math.abs
@@ -17,14 +20,19 @@ import kotlin.math.ceil
 import kotlin.math.floor
 
 
-class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
+class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
+    IMogoCarLocationChangedListener2 {
 
     private var vip: Boolean = false
+
     // 是否第一次进入道路100m处
     private var isFirst = true
+
     // 是否已进入到路口(停止线处)
     private var isEnter = false
 
+    private var mLocation: Location? = null
+
     companion object {
 
         const val TAG = "RedLightWarningManager"
@@ -35,10 +43,15 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
     }
 
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
+        // 到路口100m时回调
         Logger.d(TAG, "处理路口交通数据：是否是第一次处理：${isFirst}是否进入路口：${isEnter}")
+        if (trafficLightResult.currentRoadIsRight()) {
+            Logger.d(TAG,"当前道路右转，不处理")
+            return
+        }
         if (isFirst && !isEnter) {
             getCurrentRoadTrafficLight(trafficLightResult)?.let {
-                handleRedLightWarning(it, trafficLightResult.flashYellow)
+                handleRedLightWarning(it, trafficLightResult)
             }
             isFirst = false
         }
@@ -59,36 +72,57 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
     fun listenTrafficLight() {
         CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
         CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        MogoApisHandler.getInstance().apis.registerCenterApi.registerCarLocationChangedListener(
+            VipCarManager.TAG,
+            this
+        )
         CallVipSetListenerManager.registerVipSetListener(TAG, this)
     }
 
-    private fun handleRedLightWarning(trafficLightStatus: TrafficLightStatus, yellowLightTime: Int = 0) {
+    private fun handleRedLightWarning(
+        trafficLightStatus: TrafficLightStatus,
+        trafficLightResult: TrafficLightResult
+    ) {
         // 如果是Vip则不处理
         if (vip) {
             Logger.w(TAG, "Vip用户不处理闯红灯、绿灯通行预警逻辑！")
             return
         }
         // 路口100m闯红灯预警
-        CallerMapLocationListenerManager.getCurrentLocation()?.let {
+        mLocation?.let {
             // 单位m/s
             val speed = it.speed
             // 车停止或者速度非常慢，可能返回负数或者很小的值，需要过滤
+            Logger.d(TAG, "speed is:$speed")
             if (speed <= 2.5f) return// 小于等于9km/h不处理
-            val distance = 100
+            // 由于到路口100m时回调不准，手动计算直线距离
+            val distance = MogoApisHandler.getInstance().apis.mapServiceApi
+                .mapUIController.calculateLineDistance(
+                    MogoLatLng(it.latitude, it.longitude),
+                    MogoLatLng(trafficLightResult.lat, trafficLightResult.lon)
+                )
+            Logger.d(
+                TAG,
+                "路口经度为：${trafficLightResult.lon}，纬度为：${trafficLightResult.lat}；车的经度为：${it.longitude}，纬度为：${it.latitude}；两点距离为：${distance}"
+            )
             val remainTime = trafficLightStatus.remain
             val arriveTime = distance / speed
-            Logger.d(TAG, "speed is:$speed,remainTime is:$remainTime,arriveTime is:$arriveTime,yellowTime is:$yellowLightTime")
+            Logger.d(
+                TAG,
+                "speed is:$speed,remainTime is:$remainTime,arriveTime is:$arriveTime,yellowTime is:${trafficLightResult.flashYellow}"
+            )
 
             when {
                 trafficLightStatus.isRed() -> {
                     Logger.d(TAG, "=====当前为红灯=====")
-                    // 到达路口时红灯还没走完
-                    if (arriveTime <= remainTime) {
+                    // 到达路口时红灯还没走完(由于多个数据有偏差，红灯预警延长1s，绿灯提示条件延长1.5s，多报出错不如少报且准)
+                    if (arriveTime <= remainTime + 1) {
                         redLightWarning()
-                    } else if (arriveTime > remainTime + yellowLightTime) {// 到达时红、黄灯都走完
+                    } else if (arriveTime > remainTime + trafficLightResult.flashYellow + 1.5) {// 到达时红、黄灯都走完
                         // 单位Km/h，当前为红灯，推荐速度越慢越容易绿灯通过，且要满足[10,50]
-                        val originRemainSpeed = floor(100 / (remainTime + yellowLightTime) * 3.6).toInt()
-                        when  {
+                        val originRemainSpeed =
+                            floor(distance / (remainTime + trafficLightResult.flashYellow + 1.5) * 3.6).toInt()
+                        when {
                             originRemainSpeed > 50 -> greenLightWarning("10到50")
                             originRemainSpeed in 10..50 -> greenLightWarning("10到$originRemainSpeed")
                         }
@@ -96,13 +130,13 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
                 }
                 trafficLightStatus.isYellow() -> {
                     Logger.d(TAG, "=====当前为黄灯=====")
-                    // 到达路口时黄灯还没走完
-                    if (arriveTime <= remainTime) {
+                    // 到达路口时黄灯还没走完(由于多个数据有偏差，红灯预警延长1s，绿灯提示延长1.5s，多报出错不如少报且准)
+                    if (arriveTime <= remainTime + 1) {
                         redLightWarning()
-                    } else {
+                    } else if (arriveTime > remainTime + 1.5) {
                         // 单位Km/h，当前为黄灯，推荐速度越慢越容易绿灯通过，且要满足[10,50]
-                        val originRemainSpeed = floor(100 / remainTime * 3.6).toInt()
-                        when  {
+                        val originRemainSpeed = floor(distance / (remainTime + 1.5) * 3.6).toInt()
+                        when {
                             originRemainSpeed > 50 -> greenLightWarning("10到50")
                             originRemainSpeed in 10..50 -> greenLightWarning("10到$originRemainSpeed")
                         }
@@ -110,17 +144,16 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
                 }
                 trafficLightStatus.isGreen() -> {
                     Logger.d(TAG, "=====当前为绿灯=====")
-                    // 到达路口时绿灯已经走完
-                    if (arriveTime >= remainTime) {
+                    // 到达路口时绿灯已经走完(由于多个数据有偏差，多报出错不如少报且准，绿灯时间减少一点)
+                    if (arriveTime >= remainTime - 1) {
                         redLightWarning()
-                    } else if (arriveTime < remainTime) {
+                    } else if (arriveTime < remainTime - 1.5) {
                         // 单位Km/h，当前为绿灯，推荐速度越快越容易绿灯通过，且要满足[10,50]
-                        val originRemainSpeed = ceil(100 / remainTime * 3.6).toInt()
-                        when  {
+                        val originRemainSpeed = ceil(distance / (remainTime - 1.5) * 3.6).toInt()
+                        when {
                             originRemainSpeed < 10 -> greenLightWarning("10到50")
                             originRemainSpeed in 10..50 -> greenLightWarning("${originRemainSpeed}到50")
                         }
-                        greenLightWarning()
                     }
                 }
             }
@@ -174,5 +207,19 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
     fun onDestroy() {
         CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
         CallVipSetListenerManager.unRegisterVipSetListener(TAG)
+        CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
+        MogoApisHandler.getInstance().apis.registerCenterApi.unregisterCarLocationChangedListener(
+            TAG, this
+        )
+    }
+
+    override fun onCarLocationChanged(latLng: MogoLatLng?) {
+
+    }
+
+    override fun onCarLocationChanged2(latLng: Location?) {
+        latLng?.let {
+            mLocation = it
+        }
     }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/speedlimit/SpeedLimitDataManager.java b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/speedlimit/SpeedLimitDataManager.java
index 9144ac50b5..56879ae613 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/speedlimit/SpeedLimitDataManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/speedlimit/SpeedLimitDataManager.java
@@ -40,11 +40,8 @@ public class SpeedLimitDataManager implements IMogoCarLocationChangedListener2 {
               UiThreadHandler.post(new Runnable() {
                     @Override
                     public void run() {
-                        int speed = (int) (mLocation.getSpeed() * 3.6f);
-                        if (speed > 0 && speedLimmit > 0){
+                        if (speedLimmit > 0){
                             CallerHmiManager.INSTANCE.showLimitingVelocity(speedLimmit);
-                        }else {
-                            CallerHmiManager.INSTANCE.disableLimitingVelocity();
                         }
                     }
               });
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt
index c63ba750d1..d2dc51943c 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt
@@ -25,6 +25,10 @@ class RoadArrow {
         fun isRight(arrowId: Int): Boolean {
             return arrowId == TURN_RIGHT || arrowId == STRAIGHT_OR_RIGHT || arrowId == TURN_LEFT_OR_RIGHT
         }
+
+        fun isOnlyRight(arrowId: Int): Boolean {
+            return arrowId == TURN_RIGHT
+        }
     }
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt
index 66bf66feb4..78d6158db9 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt
@@ -4,6 +4,10 @@ fun TrafficLightResult.currentRoadTrafficLight(): TrafficLightStatus? {
     return TrafficLightStatusHelper.getCurrentRoadTrafficLight(this)
 }
 
+fun TrafficLightResult.currentRoadIsRight():Boolean{
+    return TrafficLightStatusHelper.currentRoadIsRight(this)
+}
+
 /**
  * 路口红绿灯请求返回数据
  */
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightStatusHelper.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightStatusHelper.kt
index 56214d173d..3b6f9ac6ef 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightStatusHelper.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightStatusHelper.kt
@@ -16,5 +16,10 @@ object TrafficLightStatusHelper {
         return null
     }
 
+    fun currentRoadIsRight(trafficLightResult: TrafficLightResult) : Boolean{
+        val arrowNo = trafficLightResult.arrowNo
+        return RoadArrow.isOnlyRight(arrowNo)
+    }
+
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarStatusListenerManager.kt
index 79a0f790ff..045f9e9e3c 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarStatusListenerManager.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.call.autopilot
 
+import android.util.Log
 import androidx.annotation.Nullable
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener
@@ -17,7 +18,7 @@ object CallerAutopilotCarStatusListenerManager : CallerBase() {
 
     // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
     private val M_AUTOPILOT_STATUS_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotCarStateListener> =
-        ConcurrentHashMap()
+            ConcurrentHashMap()
 
 
     /**
@@ -26,8 +27,8 @@ object CallerAutopilotCarStatusListenerManager : CallerBase() {
      * @param listener 监听回调
      */
     fun addListener(
-        @Nullable tag: String,
-        @Nullable listener: IMoGoAutopilotCarStateListener
+            @Nullable tag: String,
+            @Nullable listener: IMoGoAutopilotCarStateListener
     ) {
         if (M_AUTOPILOT_STATUS_LISTENERS.containsKey(tag)) {
             LogUtils.eTag(TAG, "Tag:$tag already exists,please use other tag")
@@ -67,6 +68,7 @@ object CallerAutopilotCarStatusListenerManager : CallerBase() {
     @Synchronized
     fun invokeAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?) {
         //LogUtils.dTag(TAG, "$autoPilotCarStateInfo")
+        //Log.w("DHY-location", "${autoPilotCarStateInfo?.values?.lon},${autoPilotCarStateInfo?.values?.lat}                      CallerAutopilotCarStatusListenerManager-invokeAutopilotCarStateData")
         M_AUTOPILOT_STATUS_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt
index 71cab938a2..fcbb46228a 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.call.map
 
+import android.util.Log
 import androidx.annotation.Nullable
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
@@ -87,6 +88,7 @@ object CallerMapLocationListenerManager : CallerBase() {
      */
     fun invokeMapLocationChangeListener(location: MogoLocation?) {
         //LogUtils.dTag(TAG, "mapStyleMode:$location")
+        Log.w("DHY-location", "${location?.longitude},${location?.latitude}                      CallerMapLocationListenerManager-invokeMapLocationChangeListener")
         mLocation = location
         mMapStyleChangeListeners.forEach {
             val tag = it.key
diff --git a/core/mogo-core-res/src/main/res/raw/jiantou.nt3d b/core/mogo-core-res/src/main/res/raw/jiantou.nt3d
new file mode 100644
index 0000000000..86a3be0653
Binary files /dev/null and b/core/mogo-core-res/src/main/res/raw/jiantou.nt3d differ
diff --git a/core/mogo-core-res/src/main/res/raw/tachexiaoche.nt3d b/core/mogo-core-res/src/main/res/raw/tachexiaoche.nt3d
index 710d65ed56..b1112e8c02 100644
Binary files a/core/mogo-core-res/src/main/res/raw/tachexiaoche.nt3d and b/core/mogo-core-res/src/main/res/raw/tachexiaoche.nt3d differ
diff --git a/core/mogo-core-res/src/main/res/raw/ziche.nt3d b/core/mogo-core-res/src/main/res/raw/ziche.nt3d
index 2020d08b91..8729e44609 100644
Binary files a/core/mogo-core-res/src/main/res/raw/ziche.nt3d and b/core/mogo-core-res/src/main/res/raw/ziche.nt3d differ
diff --git a/core/mogo-core-res/src/main/res/raw/zixingche.nt3d b/core/mogo-core-res/src/main/res/raw/zixingche.nt3d
index 9ebf5531be..ac39128ad7 100644
Binary files a/core/mogo-core-res/src/main/res/raw/zixingche.nt3d and b/core/mogo-core-res/src/main/res/raw/zixingche.nt3d differ
diff --git a/gradle.properties b/gradle.properties
index e946e68b90..6ad6bf299a 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -37,7 +37,7 @@ kapt.include.compile.classpath=false
 android.useAndroidX=true
 # Automatically convert third-party libraries to use AndroidX
 android.enableJetifier=true
-android.jetifier.blacklist=module-service-2.0.93.aar
+android.jetifier.blacklist=module-service-2.0.94.aar
 ## maven 配置
 RELEASE_REPOSITORY_URL=http://nexus.zhidaoauto.com/repository/maven-releases/
 SNAPSHOT_REPOSITORY_URL=http://nexus.zhidaoauto.com/repository/maven-snapshots/
@@ -80,7 +80,7 @@ MOGO_TRAFFICLIVE_VERSION=1.3.13
 MOGO_LOCATION_VERSION=1.3.13
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.0.0.11
+MAP_SDK_VERSION=2.0.0.12
 # websocket
 WEBSOCKET_VERSION=1.1.7
 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级
@@ -89,102 +89,102 @@ applicationName=IntelligentPilot
 versionCode=80007
 versionName=8.0.14
 ################# 新架构模块Maven版本管理 #################
-MOGO_CORE_FUNCTION_AUTOPILOT_VERSION=0.0.35
-MOGO_CORE_FUNCTION_CHECK_VERSION=0.0.35
-MOGO_CORE_FUNCTION_HMI_VERSION=0.0.35
-MOGO_CORE_FUNCTION_MAIN_VERSION=0.0.35
-MOGO_CORE_FUNCTION_MAP_VERSION=0.0.35
-MOGO_CORE_FUNCTION_MONITORING_VERSION=0.0.35
-MOGO_CORE_FUNCTION_NOTICE_VERSION=0.0.35
-MOGO_CORE_FUNCTION_OBU_MOGO_VERSION=0.0.35
-MOGO_CORE_FUNCTION_SMP_VERSION=0.0.35
-MOGO_CORE_FUNCTION_V2X_VERSION=0.0.35
-MOGO_CORE_DATA_VERSION=0.0.35
-MOGO_CORE_FUNCTION_API_VERSION=0.0.35
-MOGO_CORE_FUNCTION_CALL_VERSION=0.0.35
-MOGO_CORE_RES_VERSION=0.0.35
-MOGO_CORE_UTILS_VERSION=0.0.35
-MOGO_CORE_NETWORK_VERSION=0.0.35
+MOGO_CORE_FUNCTION_AUTOPILOT_VERSION=0.0.36
+MOGO_CORE_FUNCTION_CHECK_VERSION=0.0.36
+MOGO_CORE_FUNCTION_HMI_VERSION=0.0.36
+MOGO_CORE_FUNCTION_MAIN_VERSION=0.0.36
+MOGO_CORE_FUNCTION_MAP_VERSION=0.0.36
+MOGO_CORE_FUNCTION_MONITORING_VERSION=0.0.36
+MOGO_CORE_FUNCTION_NOTICE_VERSION=0.0.36
+MOGO_CORE_FUNCTION_OBU_MOGO_VERSION=0.0.36
+MOGO_CORE_FUNCTION_SMP_VERSION=0.0.36
+MOGO_CORE_FUNCTION_V2X_VERSION=0.0.36
+MOGO_CORE_DATA_VERSION=0.0.36
+MOGO_CORE_FUNCTION_API_VERSION=0.0.36
+MOGO_CORE_FUNCTION_CALL_VERSION=0.0.36
+MOGO_CORE_RES_VERSION=0.0.36
+MOGO_CORE_UTILS_VERSION=0.0.36
+MOGO_CORE_NETWORK_VERSION=0.0.36
 ################# 旧版本架构模块版本 #################
 ## 工程内模块
-MOGO_COMMONS_VERSION=2.0.93
-MOGO_UTILS_VERSION=2.0.93
-MAP_AMAP_VERSION=2.0.93
-MAP_AUTONAVI_VERSION=2.0.93
-MOGO_MAP_VERSION=2.0.93
-MOGO_MAP_API_VERSION=2.0.93
-MOGO_SERVICE_VERSION=2.0.93
-MOGO_SERVICE_API_VERSION=2.0.93
-MOGO_CONNECTION_VERSION=2.0.93
-MOGO_MODULE_APPS_VERSION=2.0.93
-MOGO_MODULE_NAVI_VERSION=2.0.93
-MOGO_MODULE_SHARE_VERSION=2.0.93
-MOGO_MODULE_COMMON_VERSION=2.0.93
-MOGO_MODULE_MAIN_VERSION=2.0.93
-MOGO_MODULE_MAP_VERSION=2.0.93
-MOGO_MODULE_SERVICE_VERSION=2.0.93
-MOGO_MODULE_EXTENSIONS_VERSION=2.0.93
-MOGO_MODULE_SEARCH_VERSION=2.0.93
-MOGO_MODULE_BACK_VERSION=2.0.93
-MOGO_MODULE_V2X_VERSION=2.0.93
+MOGO_COMMONS_VERSION=2.0.94
+MOGO_UTILS_VERSION=2.0.94
+MAP_AMAP_VERSION=2.0.94
+MAP_AUTONAVI_VERSION=2.0.94
+MOGO_MAP_VERSION=2.0.94
+MOGO_MAP_API_VERSION=2.0.94
+MOGO_SERVICE_VERSION=2.0.94
+MOGO_SERVICE_API_VERSION=2.0.94
+MOGO_CONNECTION_VERSION=2.0.94
+MOGO_MODULE_APPS_VERSION=2.0.94
+MOGO_MODULE_NAVI_VERSION=2.0.94
+MOGO_MODULE_SHARE_VERSION=2.0.94
+MOGO_MODULE_COMMON_VERSION=2.0.94
+MOGO_MODULE_MAIN_VERSION=2.0.94
+MOGO_MODULE_MAP_VERSION=2.0.94
+MOGO_MODULE_SERVICE_VERSION=2.0.94
+MOGO_MODULE_EXTENSIONS_VERSION=2.0.94
+MOGO_MODULE_SEARCH_VERSION=2.0.94
+MOGO_MODULE_BACK_VERSION=2.0.94
+MOGO_MODULE_V2X_VERSION=2.0.94
 # 探路
-MOGO_MODULE_TANLU_VERSION=2.0.93
+MOGO_MODULE_TANLU_VERSION=2.0.94
 # 推送
-MOGO_MODULE_PUSH_VERSION=2.0.93
-MOGO_MODULE_PUSH_BASE_VERSION=2.0.93
-MOGO_MODULE_PUSH_NOOP_VERSION=2.0.93
+MOGO_MODULE_PUSH_VERSION=2.0.94
+MOGO_MODULE_PUSH_BASE_VERSION=2.0.94
+MOGO_MODULE_PUSH_NOOP_VERSION=2.0.94
 # 探路上报和分享模块
-TANLULIB_VERSION=2.0.93
-MOGO_TANLU_API_VERSION=2.0.93
+TANLULIB_VERSION=2.0.94
+MOGO_TANLU_API_VERSION=2.0.94
 #左侧面板模块
-MOGO_MODULE_LEFT_PANEL_VERSION=2.0.93
-MOGO_MODULE_LEFT_PANEL_NOOP_VERSION=2.0.93
+MOGO_MODULE_LEFT_PANEL_VERSION=2.0.94
+MOGO_MODULE_LEFT_PANEL_NOOP_VERSION=2.0.94
 # 小控件
-MOGO_MODULE_WIDGETS_VERSION=2.0.93
+MOGO_MODULE_WIDGETS_VERSION=2.0.94
 # obu
-MOGO_MODULE_OBU_VERSION=2.0.93
-MOGO_MODULE_OBU_MOGO_VERSION=2.0.93
+MOGO_MODULE_OBU_VERSION=2.0.94
+MOGO_MODULE_OBU_MOGO_VERSION=2.0.94
 # monitor
-MOGO_MODULE_MONITOR_VERSION=2.0.93
+MOGO_MODULE_MONITOR_VERSION=2.0.94
 # bugly
-CRASHREPORT_VERSION=2.0.93
-CRASHREPORT_BUGLY_VERSION=2.0.93
-CRASHREPORT_NOOP_VERSION=2.0.93
-CRASHREPORT_UPGRADE_VERSION=2.0.93
+CRASHREPORT_VERSION=2.0.94
+CRASHREPORT_BUGLY_VERSION=2.0.94
+CRASHREPORT_NOOP_VERSION=2.0.94
+CRASHREPORT_UPGRADE_VERSION=2.0.94
 ## tts
-TTS_BASE_VERSION=2.0.93
-TTS_DI_VERSION=2.0.93
-TTS_ZHI_VERSION=2.0.93
-TTS_PAD_VERSION=2.0.93
-TTS_NOOP_VERSION=2.0.93
+TTS_BASE_VERSION=2.0.94
+TTS_DI_VERSION=2.0.94
+TTS_ZHI_VERSION=2.0.94
+TTS_PAD_VERSION=2.0.94
+TTS_NOOP_VERSION=2.0.94
 # 自研地图
-MAP_CUSTOM_VERSION=2.0.93
-MOGO_MODULE_ADAS_VERSION=2.0.93
+MAP_CUSTOM_VERSION=2.0.94
+MOGO_MODULE_ADAS_VERSION=2.0.94
 # 基础服务实现：passport、socket、location
-MOGO_BASE_WEBSOCKET_SDK_VERSION=2.0.93
-MOGO_BASE_SERVICES_APK_VERSION=2.0.93
-MOGO_BASE_SERVICES_SDK_VERSION=2.0.93
-MOGO_MODULE_CHAT_VERSION=2.0.93
+MOGO_BASE_WEBSOCKET_SDK_VERSION=2.0.94
+MOGO_BASE_SERVICES_APK_VERSION=2.0.94
+MOGO_BASE_SERVICES_SDK_VERSION=2.0.94
+MOGO_MODULE_CHAT_VERSION=2.0.94
 # 车聊聊
-MOGO_MODULE_CARCHATTING_VERSION=2.0.93
+MOGO_MODULE_CARCHATTING_VERSION=2.0.94
 # 车聊聊接口
-MOGO_MODULE_CARCHATTINGPROVIDER_VERSION=2.0.93
+MOGO_MODULE_CARCHATTINGPROVIDER_VERSION=2.0.94
 
 # 皮肤
-MOGO_SKIN_SUPPORT_VERSION=2.0.93
-MOGO_SKIN_LIGHT_VERSION=2.0.93
-MOGO_SKIN_SUPPORT_IMPL_VERSION=2.0.93
-MOGO_SKIN_SUPPORT_NOOP_VERSION=2.0.93
-SKIN_SUPPORT_VERSION=2.0.93
-SKIN_SUPPORT_APPCOMPAT_VERSION=2.0.93
-SKIN_SUPPORT_CARDVIEW_VERSION=2.0.93
-SKIN_SUPPORT_CONSTRAINT_LAYOUT_VERSION=2.0.93
-SKIN_SUPPORT_DESIGN_VERSION=2.0.93
+MOGO_SKIN_SUPPORT_VERSION=2.0.94
+MOGO_SKIN_LIGHT_VERSION=2.0.94
+MOGO_SKIN_SUPPORT_IMPL_VERSION=2.0.94
+MOGO_SKIN_SUPPORT_NOOP_VERSION=2.0.94
+SKIN_SUPPORT_VERSION=2.0.94
+SKIN_SUPPORT_APPCOMPAT_VERSION=2.0.94
+SKIN_SUPPORT_CARDVIEW_VERSION=2.0.94
+SKIN_SUPPORT_CONSTRAINT_LAYOUT_VERSION=2.0.94
+SKIN_SUPPORT_DESIGN_VERSION=2.0.94
 # OCH
-MOGO_OCH_VERSION=2.0.93-test
-MOGO_OCH_BUS_VERSION=2.0.93-test
-MOGO_OCH_NOOP_VERSION=2.0.93-test
-MOGO_OCH_TAXI_VERSION=2.0.93-test
+MOGO_OCH_VERSION=2.0.94-test
+MOGO_OCH_BUS_VERSION=2.0.94-test
+MOGO_OCH_NOOP_VERSION=2.0.94-test
+MOGO_OCH_TAXI_VERSION=2.0.94-test
 # mogoAiCloud sdk services
-MOGO_AICLOUD_SERVICES_SDK_VERSION=2.0.93
+MOGO_AICLOUD_SERVICES_SDK_VERSION=2.0.94
 ################# 旧版本架构模块版本 #################
diff --git 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
index 24d223f968..4d2703d868 100644
--- 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
@@ -29,6 +29,7 @@ import com.mogo.eagle.core.function.call.map.CallerLocationUpdaterManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapStyleListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
+import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.map.IMogoMap;
 import com.mogo.map.IMogoMapView;
 import com.mogo.map.impl.custom.navi.NaviClient;
@@ -750,6 +751,7 @@ public class AMapViewWrapper implements IMogoMapView,
 
     @Override
     public void onLocationChanged(@NotNull com.zhidaoauto.map.sdk.open.location.MogoLocation location) {
+        Log.w("DHY-location", location.getLon() + "," + location.getLat() + "                       AMapViewWrapper-onLocationChanged：");
         MogoLocation mLastLocation = ObjectUtils.fromLocation(location);
         UiThreadHandler.post(() -> CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(mLastLocation));
 
@@ -788,7 +790,7 @@ public class AMapViewWrapper implements IMogoMapView,
             } else {
                 mIsFirstLocated = true;
                 mIsDelayed = false;
-                Logger.d(TAG, "同步定位");
+                Logger.d(TAG, "同步定位：" + GsonUtils.toJson(location));
                 MapStyleController.getInstance().onLocationChanged(location, this);
             }
         }
@@ -797,8 +799,8 @@ public class AMapViewWrapper implements IMogoMapView,
             try {
                 mSelfMarker = mMapView.getMapAutoViewHelper().getMyLocationStyle().getSelfMarker();
                 mSelfMarker.setInfoWindowEnable(true);
-
             } catch (Exception e) {
+                e.printStackTrace();
             }
         } else {
 //          通过不同的方向类型来改变车模，目前暂定三种模型，drawlevel 1 绿,2 黄,3 红，绿色的时候需要把相应的切换为默认模型
diff --git 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
index eb23706c19..3fd73a29f7 100644
--- 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
@@ -74,7 +74,7 @@ public class CustomMapApiBuilder implements IMogoMapApiBuilder {
         Log.d(TAG, "setDebugMode==true");
 
         MapParams mapParams = MapParams.Companion.init();
-        mapParams.setDebugMode(false)
+        mapParams.setDebugMode(true)
                 //.setDataFileSource(1)  //todo 1-使用本地地图数据，0-使用在线地图数据
                 .setCoordinateType(MapParams.COORDINATETYPE_GCJ02)
                 .setPerspectiveMode(MapParams.MAP_PERSPECTIVE_2D)
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java
index 6e00a0fd97..fce687b201 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java
@@ -2,6 +2,7 @@ package com.mogo.map.impl.custom.location;
 
 import android.content.Context;
 import android.os.Trace;
+import android.util.Log;
 
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.map.impl.custom.utils.ObjectUtils;
@@ -113,6 +114,7 @@ public class ALocationClient implements IMogoLocationClient {
 
         @Override
         public void onLocationChanged( @NotNull com.zhidaoauto.map.sdk.open.location.MogoLocation location ) {
+            Log.w("DHY-location", location.getLon() + "," + location.getLat() + "                       ALocationClient-onLocationChanged");
             if ( mIsDestroyed ) {
                 destroyWarming();
                 return;
diff --git 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
index 5de9c4a3cd..1a868e2d8f 100644
--- 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
@@ -732,6 +732,7 @@ public class ObjectUtils {
             target.lonLatPoints( points );
         }
         target.setLineWidth( options.getWidth() );
+        target.zIndex(options.getZIndex());
         target.setColor( options.getColor() );
         target.useGradient( options.isGradient() );
         if ( options.getColorValues() != null ) {
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
index 3cdab38a1d..3e8a93fab4 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
@@ -2,7 +2,6 @@ package com.mogo.module.adas;
 
 import android.util.Log;
 
-import com.mogo.commons.AbsMogoApplication;
 import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
@@ -10,14 +9,12 @@ import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
-import com.mogo.eagle.core.data.constants.MoGoConfig;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.utils.logger.Logger;
-import com.mogo.utils.storage.SharedPrefsMgr;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.bean.AutopilotRoute;
@@ -45,7 +42,7 @@ import java.util.List;
 public class OnAdasListenerAdapter implements OnAdasListener {
     private final String TAG = "OnAdasListenerAdapter";
 
-    
+
     @Override
     public void onRectData(RectInfo rectInfo) {
         ArrayList<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
@@ -56,10 +53,10 @@ public class OnAdasListenerAdapter implements OnAdasListener {
     @Override
     public void onCarStateData(CarStateInfo carStateInfo) {
         Logger.d(TAG, "--------carStateInfo.toString() = " + carStateInfo.toString());
-        AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
-        CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
         //can数据转发
         CarStateInfo.ValuesBean bean = carStateInfo.getValues();
+        Log.w("DHY-location", bean.getLon() + "," + bean.getLat() + "                       OnAdasListenerAdapter-onCarStateData：");
+
         if (bean != null) {
             int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
             Logger.d(TAG, "onCarStateData ---- turn_light = " + turn_light);
@@ -67,6 +64,9 @@ public class OnAdasListenerAdapter implements OnAdasListener {
         } else {
             Logger.e(TAG, "bean == null ");
         }
+
+        AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
+        CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
     }
 
     @Override
diff --git a/modules/mogo-module-carchatting/src/main/java/com/mogo/module/carchatting/biz/CallChatCenter.kt b/modules/mogo-module-carchatting/src/main/java/com/mogo/module/carchatting/biz/CallChatCenter.kt
index 312cec37a1..34e82dd245 100644
--- a/modules/mogo-module-carchatting/src/main/java/com/mogo/module/carchatting/biz/CallChatCenter.kt
+++ b/modules/mogo-module-carchatting/src/main/java/com/mogo/module/carchatting/biz/CallChatCenter.kt
@@ -493,15 +493,17 @@ class CallChatCenter private constructor() : IBizCallChat.IBizCallBack, IVoiceCo
      * 2.如果当前正在打电话中，则拒绝
      */
     override fun showIncomingCall(userInfo: UserInfo) {
+        Logger.d(TAG, "showIncomingCall===userInfo: $userInfo")
+        currentUserInfo = userInfo
         if (callChatManager.isCalling() || callingWindowManager.isIncomingWindowShow()) {
             log(TAG, "已在通话进程中，准备拒绝他 ---> ")
             refuseCall(userInfo.sn)
         } else {
-            log(TAG, "有人打来电话，准备显示 ---> ${UserInfoHelper.currentRoomId}")
+            log(TAG, "有人打来电话，准备显示 房间号---> ${UserInfoHelper.currentRoomId} , 用户---> ${currentUserInfo!!.sn}")
             callingWindowManager.showIncomingView({
-                callChatManager.answerInvoke(userInfo.sn)
+                callChatManager.answerInvoke(currentUserInfo!!.sn)
             }, {
-                refuseCall(userInfo.sn)
+                refuseCall(currentUserInfo!!.sn)
             })
         }
     }
diff --git a/modules/mogo-module-carchatting/src/main/java/com/mogo/module/carchatting/biz/CallChatManager.kt b/modules/mogo-module-carchatting/src/main/java/com/mogo/module/carchatting/biz/CallChatManager.kt
index 935fdb405e..af1dbb64bc 100644
--- a/modules/mogo-module-carchatting/src/main/java/com/mogo/module/carchatting/biz/CallChatManager.kt
+++ b/modules/mogo-module-carchatting/src/main/java/com/mogo/module/carchatting/biz/CallChatManager.kt
@@ -155,7 +155,7 @@ class CallChatManager(iBizCallChat: IBizCallChat.IBizCallBack) : ICallResponse {
     }
 
     fun answerInvoke(sn: String) {
-        Logger.i(TAG, "answerInvoke")
+        Logger.i(TAG, "answerInvoke  sn : $sn")
         IMCallManager.answer(sn, this)
     }
 
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
index 55fd0e3677..c9ba764b07 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
@@ -216,7 +216,7 @@ public class BaseDrawer {
         } else if (recognizedType == AdasRecognizedType.classIdStopLine) {
             return R.raw.stopline;
         } else if (recognizedType == AdasRecognizedType.classIdWarningArrows) {
-            return R.raw.stopline;
+            return R.raw.jiantou;
         } else if (recognizedType == AdasRecognizedType.classIdUnKnow) {
             return R.raw.special_vehicle;
         } else if (recognizedType == AdasRecognizedType.classIdBicycle) {
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
index 64c6977d7b..bdadc0aa11 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
@@ -44,7 +44,8 @@ object TrafficMarkerDrawer {
         object : Handler(WorkThreadHandler.newInstance("other_traffic_drawer").looper) {
             override fun handleMessage(msg: Message) {
                 super.handleMessage(msg)
-                drawerTrafficInfo()
+                // TODO 因为与自动驾驶的感知重合，临时关掉OBU车辆绘制
+                // drawerTrafficInfo()
                 // 延时50毫秒重复发送自己，定时轮询进行车辆绘制，可以及时将已经不存在车辆删除
                 sendEmptyMessageDelayed(0, 50L)
             }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
index ee17d909ff..6968b30acb 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
@@ -108,7 +108,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
                 .object(markerShowEntity)
                 .latitude(markerShowEntity.getMarkerLocation().getLat())
                 .longitude(markerShowEntity.getMarkerLocation().getLon())
-                .setGps(false);
+                .setGps(true);
         IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options);
         options.icon3DRes(getModelRes(modeResType)); //TODO
         options.anchorColor("#FB3C3CFF");
@@ -124,7 +124,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
                 .latitude(location.getLat())
                 .longitude(location.getLon())
                 .set3DMode(true)
-                .setGps(false)
+                .setGps(true)
                 .controlAngle(true)
                 .icon3DRes(getModelRes(type))
                 .anchorColor("#FB3C3CFF")
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java
index 8d40920263..98a0129bda 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java
@@ -197,4 +197,16 @@ public class V2XMessageEntity<T> implements Serializable {
     @Retention(RetentionPolicy.SOURCE) //表示注解所存活的时间,在运行时,而不会存在 .class 文件中
     public @interface MessageType { //接口，定义新的注解类型
     }
+
+    @Override
+    public String toString() {
+        return "V2XMessageEntity{" +
+                "type=" + type +
+                ", showState=" + showState +
+                ", isNeedCompareSameScenario=" + isNeedCompareSameScenario +
+                ", onlyShow=" + onlyShow +
+                ", needAddLine=" + needAddLine +
+                ", content=" + content +
+                '}';
+    }
 }
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/TopViewNoLinkageAnimHelper.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/TopViewNoLinkageAnimHelper.java
index 4c2822fea3..d6789edd09 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/TopViewNoLinkageAnimHelper.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/TopViewNoLinkageAnimHelper.java
@@ -150,16 +150,18 @@ public class TopViewNoLinkageAnimHelper {
     public void removeAllView() {
         Logger.d(TAG, "remove all view");
         isTopViewOut = true;
-        int lastCount = topContainerNoLinkage.getChildCount();
-        for (int i = 0; i < lastCount; i++) {
-            View child = topContainerNoLinkage.getChildAt(i);
-            IMogoTopViewStatusListener listener = statusListenerMap.remove(child);
-            if (listener != null) {
-                listener.beforeViewRemoveAnim(child);
-                listener.onViewRemoved(child);
+        if (topContainerNoLinkage != null) {
+            int lastCount = topContainerNoLinkage.getChildCount();
+            for (int i = 0; i < lastCount; i++) {
+                View child = topContainerNoLinkage.getChildAt(i);
+                IMogoTopViewStatusListener listener = statusListenerMap.remove(child);
+                if (listener != null) {
+                    listener.beforeViewRemoveAnim(child);
+                    listener.onViewRemoved(child);
+                }
             }
+            topContainerNoLinkage.removeAllViews();
         }
-        topContainerNoLinkage.removeAllViews();
         MapCenterPointStrategy.setMapCenterPointByScene(mogoMapUIController, Scene.AIMLESS);
     }
 
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
index 7513682bc7..fbd7a060ad 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
@@ -30,6 +30,8 @@ public class RouteOverlayDrawer {
 
     private RouteOverlayDrawer(Context context) {
         mPolylineOptions = new MogoPolylineOptions();
+        mPolylineOptions.zIndex(20000f);
+        mPolylineOptions.setGps(true);
         // 绘制路径集合
         mPolylinePointList = new ArrayList<>();
         // 引导线颜色
@@ -114,6 +116,7 @@ public class RouteOverlayDrawer {
     public  void clearMogoRouteOverlay(){
         if (mMoGoPolyline != null) {
             mMoGoPolyline.remove();
+            mMoGoPolyline = null;
             mPolylinePointList.clear();
             mPolylineColors.clear();
         }
@@ -124,20 +127,24 @@ public class RouteOverlayDrawer {
     }
 
     public void drawTrajectoryList(List<MogoLatLng> routeList) {
-        clearMogoRouteOverlay();
+//        clearMogoRouteOverlay();
+        mPolylinePointList.clear();
         if (routeList != null) {
             for (MogoLatLng latLng : routeList) {
                 mPolylinePointList.add(latLng);
             }
-            mPolylineOptions.setGps(true);
-            mPolylineOptions.zIndex(10000f);
-            mPolylineColors.addAll(ColorUtils.getGradientAlpha("#002965ED", "#FF2965ED", "#002965ED", mPolylinePointList.size()));
-            // 替换路径集合
-            mPolylineOptions.points(mPolylinePointList);
+            if (mPolylineColors.isEmpty()){
+                mPolylineColors.addAll(ColorUtils.getGradientAlpha("#002965ED", "#FF2965ED", "#002965ED", mPolylinePointList.size()));
+            }
             // 线条粗细，渐变，渐变色值
-            mPolylineOptions.width(25).useGradient(true).colorValues(mPolylineColors);
-            // 绘制线
-            mMoGoPolyline = mogoOverlayManager.addPolyline(mPolylineOptions);
+            mPolylineOptions.width(20).useGradient(true).colorValues(mPolylineColors);
+            if (mMoGoPolyline == null || mMoGoPolyline.isDestroyed()){
+                mPolylineOptions.points(mPolylinePointList);
+                mMoGoPolyline = mogoOverlayManager.addPolyline(mPolylineOptions);
+            }else {
+                mMoGoPolyline.setPoints(mPolylinePointList);
+            }
+
         }
     }
 }
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java
index d9e5e45f51..4fe45ef1d2 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java
@@ -16,6 +16,8 @@ import androidx.localbroadcastmanager.content.LocalBroadcastManager;
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.utilcode.util.TimeUtils;
 import com.mogo.eagle.core.utilcode.util.Utils;
 import com.mogo.map.listener.IMogoMapListener;
@@ -54,6 +56,8 @@ import com.mogo.utils.network.utils.GsonUtil;
 import com.mogo.utils.storage.SharedPrefsMgr;
 import com.tencent.liteav.basic.log.TXCLog;
 
+import org.jetbrains.annotations.Nullable;
+
 import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
 import static com.mogo.module.v2x.VideoInitKt.initVideo;
 
@@ -441,4 +445,9 @@ public class V2XModuleProvider implements
     public void onDestroy() {
 
     }
+
+//    @Override
+//    public void onLocationChanged(@Nullable MogoLocation location) {
+//        V2XScenarioManager.getInstance().handlerMessage(entity);
+//    }
 }
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java
index 9bd3af9936..dfcd9256dc 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java
@@ -36,7 +36,7 @@ public class MoGoPersonWarnPolylineManager implements IMoGoPersonWarnPolylineMan
             }
 
             // 连接线参数
-            MogoPolylineOptions options = new MogoPolylineOptions().setGps(false);
+            MogoPolylineOptions options = new MogoPolylineOptions().setGps(true);
 
             // 渐变色
             List<Integer> colors = new ArrayList<>();
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
index 9107b2144f..c39ab0aa07 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
@@ -37,7 +37,7 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
 
             // 连接线参数
             MogoPolylineOptions options = new MogoPolylineOptions()
-                    .setGps(false);
+                    .setGps(true);
             List<Integer> colors = new ArrayList<>();
 
             if (info.isHasStopLines() == true) {
@@ -50,7 +50,7 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
                 colors.add(0x0DE32F46);
             }
 
-            Log.d(V2XConst.LOG_NAME_WARN, "MoGoWarnPolylineManager  roadWidth = " + info.getWidth());
+            Log.d("V2XWarningMarker", "MoGoWarnPolylineManager  roadWidth = " + info.getWidth());
             // 线条粗细，渐变，渐变色值
             options.width(info.getWidth() == 0.0 ? 60 : info.getWidth()).useGradient(true).colorValues(colors);
             List<MogoLatLng> locations = info.getLocations();
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
index 8465087e30..71468c3b52 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
@@ -59,7 +59,7 @@ public class V2XScenarioManager implements IV2XScenarioManager {
 
     @Override
     public void handlerMessage(V2XMessageEntity v2XMessageEntity) {
-        //Logger.d(MODULE_NAME, "处理V2X场景：" + GsonUtil.jsonFromObject(v2XMessageEntity));
+        Logger.d(MODULE_NAME, "处理V2X场景：" + (v2XMessageEntity == null ? "null" : v2XMessageEntity.toString()));
         try {
             synchronized (V2XScenarioManager.class) {
                 // 展示
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
index 482b58be7c..ec6e48687f 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -7,7 +7,12 @@ import android.view.ViewGroup;
 
 import androidx.annotation.Nullable;
 
+import com.google.protobuf.DescriptorProtos;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
+import com.mogo.eagle.core.utilcode.util.ObjectUtils;
 import com.mogo.eagle.core.utilcode.util.Utils;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
@@ -23,7 +28,8 @@ import com.mogo.service.windowview.IMogoTopViewStatusListener;
  * @description 车路云—场景预警-V1.0  前车/行人/摩托车/盲区碰撞预警
  * @since: 2021/3/24
  */
-public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopViewStatusListener, IMogoCarLocationChangedListener2 {
+public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopViewStatusListener ,IMoGoMapLocationListener{
+    private static final String TAG = "V2XWarningMarker";
     private V2XWarningEntity mMarkerEntity;
     static private V2XWarningMarker sV2XWarningMarker = new V2XWarningMarker();
 
@@ -34,10 +40,9 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
 
     @Override
     public void init(@Nullable V2XMessageEntity v2XMessageEntity) {
+        Log.d(TAG, "----- init -----:\n" + (v2XMessageEntity == null ? "null" : v2XMessageEntity.toString()));
         try {
             if (v2XMessageEntity.getContent() != null) {
-                MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
-                        .registerCarLocationChangedListener(TAG, this);
                 if (V2XServiceManager.getMoGoStatusManager().isMainPageOnResume()) {
                     mMarkerEntity = (V2XWarningEntity) v2XMessageEntity.getContent();
                     show();
@@ -57,7 +62,9 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
 
     @Override
     public void showWindow() {
+        Log.d(TAG, "----- showWindow --- 1 --:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
         if (getV2XWindow() != null && mMarkerEntity != null) {
+            Log.d(TAG, "----- showWindow --- 2 --:\n" + mMarkerEntity.toString());
             ViewGroup.LayoutParams layoutParams =
                     new ViewGroup.LayoutParams(
                             ViewGroup.LayoutParams.MATCH_PARENT,
@@ -72,17 +79,17 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
 
     @Override
     public void closeWindow() {
-
+        Log.d(TAG, "----- closeWindow -----:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
     }
 
     @Override
     public void showButton() {
-
+        Log.d(TAG, "----- showButton -----:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
     }
 
     @Override
     public void closeButton() {
-
+        Log.d(TAG, "----- closeButton -----:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
     }
 
     @Override
@@ -95,37 +102,38 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
 
     @Override
     public void clearPOI() {
-
+        Log.d(TAG, "----- clearPOI -----");
     }
 
     @Override
     public void onViewAdded(View view) {
 
+        Log.d(TAG, "----- onViewAdded -----");
     }
 
     @Override
     public void onViewRemoved(View view) {
-        Log.d(TAG, "onViewRemoved");
+        Log.d(TAG, "----- onViewRemoved -----");
     }
 
     @Override
     public void beforeViewAddAnim(View view) {
-
+        Log.d(TAG, "----- beforeViewAddAnim -----");
     }
 
     @Override
     public void beforeViewRemoveAnim(View view) {
-
+        Log.d(TAG, "----- beforeViewRemoveAnim -----");
     }
 
+//    @Override
+//    public void onCarLocationChanged2(Location latLng) {
+//        sV2XWarningMarker.onCarLocationChanged2(latLng);
+//    }
+
+
     @Override
-    public void onCarLocationChanged2(Location latLng) {
-        sV2XWarningMarker.onCarLocationChanged2(latLng);
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location) {
+        sV2XWarningMarker.onCarLocationChanged2(location);
     }
-
-    @Override
-    public void onCarLocationChanged(MogoLatLng latLng) {
-
-    }
-
 }
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
index 289ba22aa7..167fe5531e 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
@@ -5,6 +5,8 @@ import android.util.Log;
 
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.drawer.V2XWarnDataDrawer;
@@ -31,10 +33,10 @@ import static com.mogo.module.v2x.V2XServiceManager.getContext;
 
 /**
  * @author liujing
- * @description 前方预警marker打点  绘制安全线和预警线
+ * @description 前方预警marker打点  绘制安全线和预警线 衡阳交付-取消划线需求,只渲染识别物红色模型移动过程,代码保留
  * @since: 2021/3/30
  */
-public class V2XWarningMarker implements IV2XMarker {
+public class V2XWarningMarker implements IV2XMarker{
     private static final String TAG = "V2XWarningMarker";
     private static String WARNING_ARROWS = "WARNING_ARROWS";
     private V2XWarningEntity mCloundWarningInfo;
@@ -57,6 +59,7 @@ public class V2XWarningMarker implements IV2XMarker {
     @Override
     public void drawPOI(Object entity) {
         try {
+            Log.d(TAG, "===drawPOI");
             mCloundWarningInfo = (V2XWarningEntity) entity;
             drawLineWithEntity();
 
@@ -71,38 +74,48 @@ public class V2XWarningMarker implements IV2XMarker {
 
         fillPointOnStopLine();
         bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
-        hasStopLines = mCloundWarningInfo.getStopLines().size() > 0;
+        if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null) {
+            hasStopLines = mCloundWarningInfo.getStopLines().size() > 0;
+        }
         isSelfLineClear = false;
         isFirstLocation = false;
-        if (fillPoints.size() > 0) {
+        if (fillPoints != null && fillPoints.size() > 0) {
             //存在停止线的情况 自车与停止线之间绘制蓝色安全线 停止线向前50m绘制红色预警线
             middleLocationInStopLine = getMiddleLocationInStopLine();
             //停止线前方画线
             WorkThreadHandler.getInstance().postDelayed(() -> {
                 if (carLocation.lat != 0 && carLocation.lon != 0) {
                     //在自车与停止线直线绘制蓝色预警线
-                    drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
+                    //衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
+                    //drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
                 } else {
-                    Log.d(TAG, "自车定位数据为空carLocation == null");
                 }
                 //二轮车和行人的渲染和移动
                 V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
+                /* 衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
                 //获取停止线前方50m坐标点
                 MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine,
                         50, angleForCarMoveDirection());
                 //停止线向前方50m绘制红色预警线
                 drawRedWarningLineFrontOfStopLine(mCloundWarningInfo, middleLocationInStopLine,
                         warningLocation);
+
+                 */
                 V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
+
                 //添加停止线marker
-                handleStopLine();
+                //衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
+                //handleStopLine();
             }, 0);
             Log.d(TAG, "显示时间为++" + String.valueOf(showTime) + "识别物类型:" +
                     String.valueOf(mCloundWarningInfo.getType()));
             clearAllLine();
 
         } else { //无停止线
+            Log.d(TAG, "无停止线");
             WorkThreadHandler.getInstance().postDelayed(() -> {
+                /*  衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
+                Log.d(TAG, "无停止线" + mCloundWarningInfo.toString());
                 //绘制识别物与交汇点连线，并且更新连线数据
                 drawOtherObjectLine(mCloundWarningInfo);
                 //二轮车和行人的渲染和移动
@@ -112,6 +125,7 @@ public class V2XWarningMarker implements IV2XMarker {
                 } else {
                     Log.d(TAG, "数据为空carLocation == null");
                 }
+                 */
                 V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
 
             }, 0);
@@ -195,7 +209,7 @@ public class V2XWarningMarker implements IV2XMarker {
         try {
             fillPoints.clear();
             List stopLines = mCloundWarningInfo.getStopLines();
-            if (stopLines.size() > 1) {
+            if (stopLines != null && stopLines.size() > 1) {
                 MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
                 MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
                 //两点间的距离
@@ -210,8 +224,11 @@ public class V2XWarningMarker implements IV2XMarker {
                     fillPoints.add(newLocation);
                 }
                 fillPoints.add(y);
+            } else {
+                Log.d(TAG, "停止线数据不存在");
             }
         } catch (Exception e) {
+            Log.d(TAG, "Exception");
             e.printStackTrace();
         }
     }
@@ -251,7 +268,7 @@ public class V2XWarningMarker implements IV2XMarker {
             Log.d(TAG, "获取不到车的位置");
         }
         MogoLatLng newLocation = new MogoLatLng(0, 0);
-        if (mCloundWarningInfo.getStopLines().size() > 1) {
+        if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null && mCloundWarningInfo.getStopLines().size() > 1) {
             MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
             MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
             float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
@@ -270,6 +287,7 @@ public class V2XWarningMarker implements IV2XMarker {
      * lat 自车纬度
      */
     public void drawSelfCarLine(double lon, double lat, float bearing) {
+        Log.d(TAG, "drawSelfCarLine");
         if (!isSelfLineClear) {
             if (mCloundWarningInfo != null) {
                 IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
@@ -305,7 +323,9 @@ public class V2XWarningMarker implements IV2XMarker {
                     info.setLocations(locations);
                     info.setHeading(bearing);
                     info.setWidth(mCloundWarningInfo.getRoadwidth() * 14 + 5);
-                    info.setHasStopLines(mCloundWarningInfo.getStopLines().size() > 0);
+                    if (mCloundWarningInfo.getStopLines() != null){
+                        info.setHasStopLines(mCloundWarningInfo.getStopLines().size() > 0);
+                    }
                     V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
                     Log.d(TAG, "自车前方第一条线" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
                 }
@@ -322,6 +342,7 @@ public class V2XWarningMarker implements IV2XMarker {
      */
     private void drawOtherObjectLine(V2XWarningEntity info) {
         if (info != null) {
+            Log.d(TAG, "info != null");
             IMogoPolyline polyLine = V2XServiceManager.getMoGoPersonWarnPolylineManager().getMogoPersonWarnPolyline();
             MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon());//识别物坐标
             MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());//预碰撞点坐标
@@ -329,7 +350,7 @@ public class V2XWarningMarker implements IV2XMarker {
             MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2,
                     Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));//补点
             if (polyLine != null) {
-                Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
+                Log.d(TAG, "目标物与碰撞点连线 != null");
                 polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
                 polyLine.setTransparency(0.5f);
             } else {
@@ -347,7 +368,7 @@ public class V2XWarningMarker implements IV2XMarker {
                 Log.d(TAG, "目标物与预碰撞点画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
             }
         } else {
-            Log.e(V2XConst.LOG_NAME_WARN, "info == null");
+            Log.e(TAG, "info == null");
             clearAllLine();
         }
     }
@@ -371,13 +392,14 @@ public class V2XWarningMarker implements IV2XMarker {
     }
 
     //线随车动
-    public void onCarLocationChanged2(Location latLng) {
+    public void onCarLocationChanged2(MogoLocation latLng) {
         carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
         if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() && isSelfLineClear == false) {
             if (mCloundWarningInfo != null) {
                 mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
             }
-            drawSelfCarLine(latLng.getLongitude(), latLng.getLatitude(), latLng.getBearing());
+            //衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
+            //drawSelfCarLine(latLng.getLongitude(), latLng.getLatitude(), latLng.getBearing());
         }
         Log.d(TAG, "车辆行驶轨迹" + String.valueOf(latLng.getLongitude()) + "," + String.valueOf(latLng.getLatitude()));
     }
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java
index 62e126a6d4..71bb06e681 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java
@@ -3,6 +3,7 @@ package com.mogo.module.v2x.scenario.scene.warning;
 import android.content.Context;
 import android.os.Handler;
 import android.util.AttributeSet;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.widget.ImageView;
@@ -25,7 +26,7 @@ import java.math.BigDecimal;
  * @since: 2021/3/25
  */
 public class V2XWarningWindow extends V2XBasWindow implements IV2XWindow {
-
+    private static final String TAG = "V2XWarningMarker";
     private ImageView typeImage;
     private TextView warningTextView;
     private TextView distance;
@@ -63,6 +64,7 @@ public class V2XWarningWindow extends V2XBasWindow implements IV2XWindow {
     public void show(Object entity) {
         if (entity != null) {
             mV2XWarningEntity = (V2XWarningEntity) entity;
+            Log.d(TAG, mV2XWarningEntity.toString());
             //1行人/2自行车/4摩托车
             switch (mV2XWarningEntity.getType()) {
                 case 1:
diff --git a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json
index 6226dfd0de..9dfcee933d 100644
--- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json
+++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json
@@ -1,29 +1,19 @@
 {
   "type": 1,
-  "lat": 26.87912015,
-  "lon": 112.56885373,
-  "distance": 2.678,
-  "collisionLat": 26.8791769,
-  "collisionLon": 112.56896496,
+  "lat": 26.851909,
+  "lon": 112.571751,
+  "distance": 40.119,
+  "collisionLat": 26.85198163866211,
+  "collisionLon": 112.57059540184451,
   "stopLines": [
-    {
-      "lat": 26.8791769,
-      "lon": 112.56896496
-
-    },
-    {
-      "lat": 26.879153,
-      "lon": 112.568997
-    }
   ],
   "from": 1,
   "angle": 240,
   "direction": 1,
   "speed": 11.108121,
-  "targetColor": "#FF4040",
   "stopLineDistance": 60,
   "warningContent": "小心行人",
-  "heading": 0,
+  "heading": 76,
   "showTime": 3,
   "roadwidth": 4.0
 }
\ No newline at end of file
diff --git a/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java b/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java
index 2b0b914110..7fcfe41577 100644
--- a/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java
+++ b/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java
@@ -36,7 +36,8 @@ public class BuglyCrashReportProvider implements ITestCrashReportProvider {
         String processName = getProcessName(android.os.Process.myPid());
         CrashReport.UserStrategy strategy = new CrashReport.UserStrategy(context);
         strategy.setUploadProcess(processName == null || processName.equals(packageName));
-
+        //该用户本次启动后的异常日志用户ID都将是 sn
+        CrashReport.setUserId(MoGoAiCloudClientConfig.getInstance().getSn());
         String productFlavor = DebugConfig.getProductFlavor();
         strategy.setAppChannel(productFlavor);
         Bugly.init(context, CrashReportConstants.buglyAppID, true, strategy);