[2.13.0-arch-opt] fix bug of track and loc reason, wait for map version ,plus remove aicloud sdk httpdns,which update version to fix passport . and plus found the line id problem because of code opt

2023-03-01 18:07:21 +08:00
parent 5560e0b293
commit 66b321a2a9
11 changed files with 214 additions and 359 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/ILineUploadApi.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/ILineUploadApi.kt
@@ -10,7 +10,7 @@ import retrofit2.http.POST
 interface ILineUploadApi {

    @Headers("Content-type:application/json;charset=UTF-8" )
-    @POST( "" )
+    @POST( "/yycp-data-center-service/carTrack/receiveCarTrack/" )
    fun uploadLineId(@Body lineId: LineUploadData): Observable<BaseData>

 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -53,20 +53,18 @@ import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
-import com.mogo.eagle.core.function.call.obucombine.CallerObuDcCombineListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
-import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhidao.support.adas.high.common.ProtocolStatus
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
 import function_state_management.FunctionStates
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
-import mogo.v2x.ObuWarningEvent
 import mogo_msg.MogoReportMsg
 import perception.TrafficLightOuterClass
 import planning.RoboSweeperTaskIndexOuterClass
@@ -89,12 +87,12 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //车前引导线
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
        if (HdMapBuildConfig.isMapLoaded) {
@@ -106,16 +104,16 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //感知物体
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onTrackedObjects(
-            header: MessagePad.Header,
-            trackedObjects: MessagePad.TrackedObjects
+        header: MessagePad.Header,
+        trackedObjects: MessagePad.TrackedObjects
    ) {
        if (HdMapBuildConfig.isMapLoaded) {
            invokeAutopilotIdentifyDataUpdate(trackedObjects.objsList as List<TrackedObject>?)
@@ -124,12 +122,12 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //自车定位信息
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
        CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
@@ -140,9 +138,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
                //CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo)
                // 同步更新经纬度和系统时间至 AutoPilotStatusListener
                CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
-                        gnssInfo.satelliteTime,
-                        gnssInfo.longitude,
-                        gnssInfo.latitude
+                    gnssInfo.satelliteTime,
+                    gnssInfo.longitude,
+                    gnssInfo.latitude
                )
            }
        }
@@ -158,14 +156,17 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param vehicleState 数据
     */
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
-    override fun onVehicleState(header: MessagePad.Header, vehicleState: VehicleStateOuterClass.VehicleState?) {
+    override fun onVehicleState(
+        header: MessagePad.Header,
+        vehicleState: VehicleStateOuterClass.VehicleState?
+    ) {
        if (vehicleState != null) {
            //转向灯数据
            CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
@@ -191,9 +192,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
            //清扫车（福田）清扫控制系统状态
            vehicleState.sweeperFutianCleanSystemState?.also { sweeperState ->
                val bytes: ByteArray = sweeperState.toByteArray()
-                val cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)
+                val cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? =
+                    ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)
                cleanSystemState?.let {
-                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
+                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(
+                        it
+                    )
                }
            }
            //金旅M1
@@ -214,14 +218,17 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param vehicleState 数据
     */
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
-    override fun onChassisStates(header: MessagePad.Header, chassisStates: ChassisStatesOuterClass.ChassisStates?) {
+    override fun onChassisStates(
+        header: MessagePad.Header,
+        chassisStates: ChassisStatesOuterClass.ChassisStates?
+    ) {
        if (chassisStates != null) {
            chassisStates.bcmSystemStates?.let { bcmSystemStates ->
                bcmSystemStates.turnLightState?.let {
@@ -260,7 +267,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
            chassisStates.taskSystemStates?.let { taskSystemStates ->
                taskSystemStates.sweeperFutianTaskSystemStates?.let {
                    //清扫车（福田）清扫控制系统状态
-                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
+                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(
+                        it
+                    )
                }
            }
        } else {
@@ -270,16 +279,16 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //自动驾驶状态
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onAutopilotState(
-            header: MessagePad.Header,
-            autopilotState: MessagePad.AutopilotState?
+        header: MessagePad.Header,
+        autopilotState: MessagePad.AutopilotState?
    ) {
        if (autopilotState != null) {
            //工控机模拟时间
@@ -303,7 +312,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
                AdasManager.getInstance().carConfig?.let {
                    autopilotStatusInfo.dockVersion = it.dockVersion
                }
-                CallerLogger.d("Upgrade", "origin = ${autopilotStatusInfo.connectStatus} -----now = ${AppConfigInfo.isConnectAutopilot} ")
+                CallerLogger.d(
+                    "Upgrade",
+                    "origin = ${autopilotStatusInfo.connectStatus} -----now = ${AppConfigInfo.isConnectAutopilot} "
+                )
                AppConfigInfo.isConnectAutopilot = autopilotStatusInfo.connectStatus
                AppConfigInfo.connectStatusDescribe = autopilotStatusInfo.connectStatusDescribe
                invokeAutoPilotStatus()
@@ -313,16 +325,16 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //监控
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onReportMessage(
-            header: MessagePad.Header,
-            mogoReportMessage: MogoReportMsg.MogoReportMessage?
+        header: MessagePad.Header,
+        mogoReportMessage: MogoReportMsg.MogoReportMessage?
    ) {
        if (HdMapBuildConfig.isMapLoaded) {
            invokeAutopilotGuardian(mogoReportMessage)
@@ -331,28 +343,28 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //感知红绿灯
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onPerceptionTrafficLight(
-            header: MessagePad.Header?,
-            trafficLights: TrafficLightOuterClass.TrafficLights?
+        header: MessagePad.Header?,
+        trafficLights: TrafficLightOuterClass.TrafficLights?
    ) {
        if (trafficLights != null) {
            CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
-                    trafficLights
+                trafficLights
            )
        }
    }

    //他车轨迹预测
    override fun onPredictionObstacleTrajectory(
-            header: MessagePad.Header?,
-            predictionObjects: Prediction.mPredictionObjects?
+        header: MessagePad.Header?,
+        predictionObjects: Prediction.mPredictionObjects?
    ) {
        //他车轨迹预测
    }
@@ -364,16 +376,16 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //planning障碍物
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onPlanningObjects(
-            header: MessagePad.Header?,
-            planningObjects: MessagePad.PlanningObjects
+        header: MessagePad.Header?,
+        planningObjects: MessagePad.PlanningObjects
    ) {
        if (HdMapBuildConfig.isMapLoaded) {
            invokeAutopilotIdentifyPlanningObj(planningObjects.objsList as List<MessagePad.PlanningObject>)
@@ -382,24 +394,24 @@ class MoGoAdasListenerImpl : OnAdasListener {

    // 自动驾驶设备基础信息请求
    override fun onBasicInfoReq(
-            header: MessagePad.Header,
-            basicInfoReq: MessagePad.BasicInfoReq?
+        header: MessagePad.Header,
+        basicInfoReq: MessagePad.BasicInfoReq?
    ) {
        invokeAutopilotSNRequest()
    }

    //工控机基础配置信息
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onCarConfigResp(
-            header: MessagePad.Header,
-            carConfigResp: MessagePad.CarConfigResp?
+        header: MessagePad.Header,
+        carConfigResp: MessagePad.CarConfigResp?
    ) {
        if (carConfigResp != null) {
            AppConfigInfo.dockerVersion = carConfigResp.dockVersion
@@ -413,34 +425,32 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //全局路径规划
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onGlobalPathResp(
-            header: MessagePad.Header,
-            globalPathResp: MessagePad.GlobalPathResp?
+        header: MessagePad.Header,
+        globalPathResp: MessagePad.GlobalPathResp?
    ) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            invokeAutopilotRotting(globalPathResp)
-        }
+        invokeAutopilotRotting(globalPathResp)
    }

    //数据采集，badCase
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onRecordResult(
-            header: MessagePad.Header,
-            recordPanel: RecordPanelOuterClass.RecordPanel?
+        header: MessagePad.Header,
+        recordPanel: RecordPanelOuterClass.RecordPanel?
    ) {
        if (recordPanel != null) {
            invokeAutopilotRecordResult(recordPanel)
@@ -462,34 +472,32 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //到站回调
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onArrivalNotification(
-            header: MessagePad.Header,
-            arrivalNotification: MessagePad.ArrivalNotification?
+        header: MessagePad.Header,
+        arrivalNotification: MessagePad.ArrivalNotification?
    ) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            invokeArriveAtStation(arrivalNotification)
-        }
+        invokeArriveAtStation(arrivalNotification)
    }

    //状态查询应答
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onStatusQueryResp(
-            header: MessagePad.Header?,
-            statusInfo: SystemStatusInfo.StatusInfo?
+        header: MessagePad.Header?,
+        statusInfo: SystemStatusInfo.StatusInfo?
    ) {
        invokeAutopilotStatusRespByQuery(statusInfo)
    }
@@ -498,8 +506,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * 数据采集配置应答
     */
    override fun onRecordDataConfigResp(
-            header: MessagePad.Header?,
-            config: MessagePad.RecordDataConfig?
+        header: MessagePad.Header?,
+        config: MessagePad.RecordDataConfig?
    ) {
        if (config != null) {
            invokeAutopilotRecordConfig(config)
@@ -510,16 +518,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * planning决策状态, 透传
     */
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onPlanningActionMsg(
-            header: MessagePad.Header?,
-            planningActionMsg: MessagePad.PlanningActionMsg?
+        header: MessagePad.Header?,
+        planningActionMsg: MessagePad.PlanningActionMsg?
    ) {
        planningActionMsg?.let {
            invokePNCActions(it)
@@ -532,16 +540,23 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param header          头
     * @param spatWarningData 数据
     */
-    override fun onObuSpatWarning(header: MessagePad.Header?, spatWarningData: ObuScene.SpatWarningData?) {
+    override fun onObuSpatWarning(
+        header: MessagePad.Header?,
+        spatWarningData: ObuScene.SpatWarningData?
+    ) {
        CallerObuWarningSpatListenerManager.invokeObuSpatWarning(spatWarningData!!)
    }
+
    /**
     * OBU RSI预警信息
     *
     * @param header         头
     * @param rsiWarningData 数据
     */
-    override fun onObuRsiWarning(header: MessagePad.Header?, rsiWarningData: ObuScene.RsiWarningData?) {
+    override fun onObuRsiWarning(
+        header: MessagePad.Header?,
+        rsiWarningData: ObuScene.RsiWarningData?
+    ) {
        CallerObuWarningRsiListenerManager.invokeObuRsiWarning(rsiWarningData!!)
    }

@@ -551,9 +566,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param header         头
     * @param rsmWarningData 数据
     */
-    override fun onObuRsmWarning(header: MessagePad.Header?, rsmWarningData: ObuScene.RsmWarningData?) {
+    override fun onObuRsmWarning(
+        header: MessagePad.Header?,
+        rsmWarningData: ObuScene.RsmWarningData?
+    ) {
        CallerObuWarningRsmListenerManager.invokeObuRsmWarning(rsmWarningData!!)
    }
+
    /**
     * OBU 地图匹配结果
     *
@@ -570,7 +589,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param header         头
     * @param functionStates 头
     */
-    override fun onFunctionStates(header: MessagePad.Header?, functionStates: FunctionStates.FSMFunctionStates?) {
+    override fun onFunctionStates(
+        header: MessagePad.Header?,
+        functionStates: FunctionStates.FSMFunctionStates?
+    ) {

    }

@@ -580,7 +602,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param header               头
     * @param roboSweeperTaskIndex 数据
     */
-    override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) {
+    override fun onSweeperTaskIndexData(
+        header: MessagePad.Header?,
+        roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?
+    ) {

    }

@@ -590,7 +615,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param header     头
     * @param bagManager 数据
     */
-    override fun onBagManagerCmd(header: MessagePad.Header?, bagManager: BagManagerOuterClass.BagManager?) {
+    override fun onBagManagerCmd(
+        header: MessagePad.Header?,
+        bagManager: BagManagerOuterClass.BagManager?
+    ) {
    }

    /**
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
@@ -2,6 +2,8 @@ package com.mogo.eagle.core.function.business.identify;

 import android.annotation.SuppressLint;
 import android.os.Build;
+import android.util.ArraySet;
+import android.util.Log;

 import androidx.annotation.RequiresApi;

@@ -50,7 +52,7 @@ public class TrackManager {
     * 记录每次实际绘制的交通元素UUID
     */
    @SuppressLint("NewApi")
-    private final ConcurrentHashMap<String, Long> trafficDataUuid = new ConcurrentHashMap<>();
+    private final ArraySet<String> trafficDataUuid = new ArraySet<>();

    /**
     * 过滤后的数据集合
@@ -71,9 +73,10 @@ public class TrackManager {
     * 过滤后的数据集合
     */
    @SuppressLint("NewApi")
-    public synchronized HashMap<String, MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
+    public HashMap<String, MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
        //清空上次返回数据，做到缓存复用
        mFilterTrafficData.clear();
+        long cost = System.currentTimeMillis();
        //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid
        for (MessagePad.TrackedObject data : trafficData) {
            if (TrackerSourceColorHelper.INSTANCE.filterData(data)) {
@@ -121,35 +124,34 @@ public class TrackManager {
            mFilterTrafficData.put(uuid, trackObj.getCache());
            cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
            mMarkersCaches.put(uuid, trackObj);
-            trafficDataUuid.put(uuid, System.currentTimeMillis());
+            trafficDataUuid.add(uuid);
+            Log.i("costTime","" + (System.currentTimeMillis() - cost));
        }
        return mFilterTrafficData;
    }

-    @RequiresApi(api = Build.VERSION_CODES.N)
    public void clearCache(List<MessagePad.TrackedObject> resultList) {
        //过滤现有元素
        for (MessagePad.TrackedObject data : resultList) {
            String uuid = "" + data.getUuid();
-            if (TrackerSourceColorHelper.INSTANCE.filterData(data)) {
-                continue;
-            }
-            if (trafficDataUuid.size() > 0) {
+            if (trafficDataUuid.size() > 0 && trafficDataUuid.contains(uuid)) {
+                if (TrackerSourceColorHelper.INSTANCE.filterData(data)) {
+                    continue;
+                }
                trafficDataUuid.remove(uuid);
            }
        }

        //清除缓存,删除marker
-        Iterator<Map.Entry<String, Long>> it = trafficDataUuid.entrySet().iterator();
+        Iterator<String> it = trafficDataUuid.iterator();
        while (it.hasNext()) {
-            Map.Entry<String, Long> next = it.next();
-            String key = next.getKey();
+            String key = it.next();
            it.remove();
            removeKey(key);
        }
    }

-    public synchronized void removeKey(String key) {
+    public void removeKey(String key) {
        cellIdCaches.remove(key);
        mMarkersCaches.remove(key);
        WarningHelper.INSTANCE.remove(key);
@@ -157,15 +159,12 @@ public class TrackManager {
                .removeMarker(key);
    }

-    @SuppressLint("NewApi")
    public void clearAll() {
        MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).clearAllMarker();
        cellIdCaches.clear();
        trafficDataUuid.clear();
        WarningHelper.INSTANCE.clear();
-        mMarkersCaches.forEach((uuid, trackObj) -> {
-            trackObj.clear();
-        });
+        mMarkersCaches.forEach((uuid, trackObj) -> trackObj.clear());
        mMarkersCaches.clear();
    }

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
@@ -5,6 +5,7 @@ import androidx.annotation.Nullable;

 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.config.HdMapBuildConfig;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
@@ -103,6 +104,9 @@ public class MogoRouteOverlayManager implements
        if (arrivalNotification == null) {
            return;
        }
+        if(!HdMapBuildConfig.isMapLoaded){
+            return;
+        }
        if (!isArriveAtStation.get()) {
            isArriveAtStation.set(true);
        }
--- a/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
+++ b/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
@@ -4,12 +4,11 @@ import android.content.Context
 import com.mogo.aicloud.services.locationinfo.MogoLocationInfoServices
 import com.mogo.aicloud.services.socket.IMogoLifecycleListener
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
-import com.mogo.cloud.httpdns.MogoHttpDnsConfig
-import com.mogo.cloud.httpdns.bean.HttpDnsSimpleLocation
-import com.mogo.cloud.httpdns.listener.IHttpDnsCurrentLocation
 import com.mogo.cloud.passport.IMoGoTokenCallback
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.cloud.passport.location.ICurrentLocation
+import com.mogo.cloud.passport.location.SimpleLocation
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.constants.SharedPrefsConstants
 import com.mogo.commons.debug.DebugConfig
@@ -85,10 +84,10 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
    private fun preparePassportEnvironment() {
        // 设置网络环境：HTTP_DNS_ENV_QA、HTTP_DNS_ENV_RELEASE、HTTP_DNS_ENV_DEV
        when (DebugConfig.getNetMode()) {
-            DebugConfig.NET_MODE_DEV -> clientConfig.netMode = MogoHttpDnsConfig.HTTP_DNS_ENV_DEV
-            DebugConfig.NET_MODE_QA -> clientConfig.netMode = MogoHttpDnsConfig.HTTP_DNS_ENV_QA
-            DebugConfig.NET_MODE_DEMO -> clientConfig.netMode = MogoHttpDnsConfig.HTTP_DNS_ENV_DEMO
-            else -> clientConfig.netMode = MogoHttpDnsConfig.HTTP_DNS_ENV_RELEASE
+            DebugConfig.NET_MODE_DEV -> clientConfig.netMode = MoGoAiCloudClientConfig.HTTP_DNS_ENV_DEV
+            DebugConfig.NET_MODE_QA -> clientConfig.netMode = MoGoAiCloudClientConfig.HTTP_DNS_ENV_QA
+            DebugConfig.NET_MODE_DEMO -> clientConfig.netMode = MoGoAiCloudClientConfig.HTTP_DNS_ENV_DEMO
+            else -> clientConfig.netMode = MoGoAiCloudClientConfig.HTTP_DNS_ENV_RELEASE
        }
        // 设置是否是第三APP登录
        clientConfig.isThirdLogin =
@@ -126,13 +125,13 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
        //设置长链接的secretKey 通过SHA1和包名找中台服务生成，后续包名分渠道,需要做对应操作
        clientConfig.secretKey = "YMj2VFDFxJ3Q4gNoZceJ"

-        clientConfig.iHttpDnsCurrentLocation = object : IHttpDnsCurrentLocation {
-            override fun getCurrentLocation(): HttpDnsSimpleLocation {
+        clientConfig.iHttpCurrentLocation = object : ICurrentLocation {
+            override fun getCurrentLocation(): SimpleLocation {
                val envConfig = CallerDevaToolsManager.getEnvConfig()
                if (envConfig != null) {
                    // 更新
                    httpDnsSimpleLocation =
-                        HttpDnsSimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
+                        SimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
                    return httpDnsSimpleLocation
                }
                val mogoLocation: MogoLocation? = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
@@ -142,14 +141,14 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                        mogoLocation.cityCode.isNullOrEmpty() &&
                        !CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode.isNullOrEmpty()
                    ) {
-                        HttpDnsSimpleLocation(
+                        SimpleLocation(
                            CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode
                                ?: "010",
                            mogoLocation.latitude,
                            mogoLocation.longitude
                        )
                    } else {
-                        HttpDnsSimpleLocation(
+                        SimpleLocation(
                            mogoLocation.cityCode,
                            mogoLocation.latitude,
                            mogoLocation.longitude
@@ -328,7 +327,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
        MogoAiCloudSocketManager.getInstance(context).reConnect()
    }

-    private fun getDefaultSimpleLocation(): HttpDnsSimpleLocation {
+    private fun getDefaultSimpleLocation(): SimpleLocation {
        val ciyCode =
            SharedPrefsMgr.getInstance(
                AbsMogoApplication.getApp()
@@ -345,11 +344,11 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
            )
                .getString(SharedPrefsConstants.LOCATION_LONGITUDE)
        return try {
-            HttpDnsSimpleLocation(
+            SimpleLocation(
                ciyCode, latitude.toDouble(), longitude.toDouble()
            )
        } catch (e: NumberFormatException) {
-            HttpDnsSimpleLocation("010", 1.0, 1.0)
+            SimpleLocation("010", 1.0, 1.0)
        }
    }