Merge branch 'dev_robotaxi-d-app-module_2110_220915_2.11.0' into 'test_robotaxi-d-app-module_2110_220915_2.11.0.1'

Dev robotaxi d app module 2110 220915 2.11.0 See merge request zhjt/AndroidApp/MoGoEagleEye!226
2022-09-28 11:27:19 +00:00
parent 47e6249300 be020d6cb4
commit 6fb0d04b23
39 changed files with 1006 additions and 47958 deletions
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/adapter/BusPassengerLineStationsAdapter.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/adapter/BusPassengerLineStationsAdapter.java
@@ -48,6 +48,7 @@ public class BusPassengerLineStationsAdapter extends RecyclerView.Adapter<Recycl
        BusPassengerStation station = mStations.get(position);
        StationViewHolder viewHolder = (StationViewHolder)holder;
        viewHolder.stationName.setText(station.getName());
+        BlinkAnimationUtil.clearAnimation(viewHolder.stationCircle);
        if (position == 0){ //第一个 起点
            viewHolder.stationTagTxt.setText("起");
            viewHolder.stationStationTag.setBackground(mContext.getDrawable(R.drawable.bg_bus_p_start_tag_bg));
@@ -58,7 +59,6 @@ public class BusPassengerLineStationsAdapter extends RecyclerView.Adapter<Recycl
                viewHolder.stationCircle.setImageResource(R.drawable.bus_p_point_green);
                BlinkAnimationUtil.setAnimation(viewHolder.stationCircle);
            }else {
-                BlinkAnimationUtil.clearAnimation(viewHolder.stationCircle);
                viewHolder.stationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_station_txt_color));
                viewHolder.stationCircle.setImageResource(R.drawable.bus_p_point_gray);
            }
@@ -74,7 +74,6 @@ public class BusPassengerLineStationsAdapter extends RecyclerView.Adapter<Recycl
            BusPassengerStation preStation = mStations.get(position -1);
            if (station.getDrivingStatus() == STATION_STATUS_LEAVING ||
                    (station.getDrivingStatus() == STATION_STATUS_STOPPED && station.isLeaving())){ //过站
-                BlinkAnimationUtil.clearAnimation(viewHolder.stationCircle);
                viewHolder.stationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_station_txt_color));
                viewHolder.curArrowBg.setImageResource(R.drawable.bus_p_line_grey);
                viewHolder.stationCircle.setImageResource(R.drawable.bus_p_point_gray);
@@ -91,7 +90,6 @@ public class BusPassengerLineStationsAdapter extends RecyclerView.Adapter<Recycl
            }else if (station.getDrivingStatus() == STATION_STATUS_ARRIVING &&
                    (preStation.getDrivingStatus() == STATION_STATUS_ARRIVING
                            || preStation.getDrivingStatus() == STATION_STATUS_STOPPED)){ //未到站的并且前面也是未到站或者刚到站的
-                BlinkAnimationUtil.clearAnimation(viewHolder.stationCircle);
                viewHolder.stationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_station_txt_color));
                viewHolder.curArrowBg.setImageResource(R.drawable.bus_p_line_blue);
                viewHolder.stationCircle.setImageResource(R.drawable.bus_p_point_blue);
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
@@ -106,14 +106,14 @@ public class BusPassengerMapDirectionView
        initAMapView();

        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
    }

    @Override
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
+        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
    }

    private void initAMapView() {
@@ -182,7 +182,7 @@ public class BusPassengerMapDirectionView


    @Override
-    public void onLocationChanged(@Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        if (location == null) {
            return;
        }
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
@@ -147,7 +147,7 @@
                android:layout_width="match_parent"
                android:layout_height="match_parent"
                android:layout_marginTop="@dimen/dp_260"
-                android:paddingBottom="@dimen/dp_30"
+                android:paddingBottom="@dimen/dp_20"
                android:paddingLeft="@dimen/dp_30"
                android:paddingRight="@dimen/bus_p_route_info_margin_right"
                android:requiresFadingEdge="vertical"
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_common_item.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_common_item.xml
@@ -22,12 +22,13 @@
        app:layout_constraintTop_toBottomOf="@+id/bus_p_cur_arrow_bg"/>

    <ImageView
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
+        android:layout_width="62px"
+        android:layout_height="62px"
        android:src="@drawable/bus_p_point_gray"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="@+id/bus_p_station"
-        app:layout_constraintBottom_toBottomOf="@+id/bus_p_station"/>
+        app:layout_constraintTop_toTopOf="@+id/bus_p_circle"
+        app:layout_constraintBottom_toBottomOf="@+id/bus_p_circle"
+        app:layout_constraintLeft_toLeftOf="@+id/bus_p_circle"
+        app:layout_constraintRight_toRightOf="@+id/bus_p_circle"/>

    <ImageView
        android:id="@+id/bus_p_circle"
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -91,10 +91,6 @@ public class BusPresenter extends Presenter<BusFragment>
        BusOrderModel.getInstance().setPassengerCallback(null);
    }

-    public void queryBusRoutes() {
-        BusOrderModel.getInstance().queryBusRoutes();
-    }
-
    public void abortTask() {
        BusOrderModel.getInstance().abortTask();
    }
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/ui/BusStationCommonItem.kt
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/ui/BusStationCommonItem.kt
@@ -6,7 +6,6 @@ import android.view.LayoutInflater
 import android.widget.ImageView
 import android.widget.LinearLayout
 import androidx.core.content.ContextCompat
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.bus.R
 import com.mogo.och.common.module.utils.BlinkAnimationUtil
 import kotlinx.android.synthetic.main.bus_stations_common_item.view.*
@@ -33,31 +32,43 @@ class BusStationCommonItem @JvmOverloads constructor(
        busStationNameTv.setTextColor(color)
    }

-    fun setStationPointBg(type: Int){ // 0:灰色 过站 1：绿色 到站或者即将到站 2：蓝色：未到站
-
-        UiThreadHandler.post(Runnable {
-            BlinkAnimationUtil.clearAnimation(busCircleIv)
-
-            when(type){
-                0 -> {
-                    busCircleIv.setImageDrawable(null)
-                    busCircleIv.setImageDrawable(ContextCompat.getDrawable(context,R.drawable.icon_point_grey_bus))
-                }
-                1 -> {
-                    busCircleIv.setImageDrawable(null)
-                    busCircleIv.setImageDrawable(ContextCompat.getDrawable(context,R.drawable.icon_point_green_bus))
-                    BlinkAnimationUtil.setAnimation(busCircleIv)
-                }
-                2 -> {
-                    busCircleIv.setImageDrawable(null)
-                    busCircleIv.setImageDrawable(ContextCompat.getDrawable(context,R.drawable.icon_point_blue_bus))
-                }
+    fun setStationPointBg(type: Int) { // 0:灰色 过站 1：绿色 到站或者即将到站 2：蓝色：未到站
+        BlinkAnimationUtil.clearAnimation(busCircleIv)
+        when (type) {
+            0 -> {
+                busCircleIvBg.visibility = GONE
+                busCircleIv.setImageDrawable(
+                    ContextCompat.getDrawable(
+                        context,
+                        R.drawable.icon_point_grey_bus
+                    )
+                )
            }
-        })
+            1 -> {
+                busCircleIvBg.visibility = VISIBLE
+                busCircleIv.setImageDrawable(
+                    ContextCompat.getDrawable(
+                        context,
+                        R.drawable.icon_point_green_bus
+                    )
+                )
+                BlinkAnimationUtil.setAnimation(busCircleIv)
+            }
+            2 -> {
+                busCircleIvBg.visibility = GONE
+                busCircleIv.setImageDrawable(
+                    ContextCompat.getDrawable(
+                        context,
+                        R.drawable.icon_point_blue_bus
+                    )
+                )
+            }
+
+        }
    }

    fun getCircleImageView() : ImageView{
-        return busCircleIv;
+        return busCircleIv
    }

    fun setStationArrowBg(type: Int){// 0:灰色 过站 1：绿色 前往下一站 2：蓝色 未到站
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/model/OchCommonLoginModel.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/model/OchCommonLoginModel.kt
@@ -16,6 +16,7 @@ import com.mogo.och.common.module.biz.constant.TaxiLoginStatusEnum
 import com.mogo.och.common.module.biz.constant.LoginStatusManager
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.biz.network.OchCommonServiceManager
+import com.mogo.och.common.module.utils.ToastUtilsOch

 /**
 * Created by pangfan on 2021/8/19
@@ -93,7 +94,7 @@ object OchCommonLoginModel{
                }

                override fun onFail(code: Int, msg: String) {
-                    ToastUtils.showShort("$code,$msg")
+                    ToastUtilsOch.showWithCodeMessage(code,msg)
                }
            })
    }
@@ -127,7 +128,7 @@ object OchCommonLoginModel{
                }

                override fun onFail(code: Int, msg: String) {
-                    ToastUtils.showShort("$code,$msg")
+                    ToastUtilsOch.showWithCodeMessage(code,msg)
                }
            })
    }
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/ui/TaxiLoginDialogFragment.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/ui/TaxiLoginDialogFragment.kt
@@ -54,6 +54,14 @@ class TaxiLoginDialogFragment : MvpDialogFragment<TaxiLoginDialogFragment?, OchC
        setStyle(STYLE_NO_TITLE, R.style.DialogFullScreen) //dialog全屏
    }

+    override fun onResume() {
+        super.onResume()
+        dialog?.let {
+            it.window?.let {window->
+                BarUtils.setNavBarVisibility(window,false)
+            }
+        }
+    }
    override fun onCreateView(
        inflater: LayoutInflater,
        container: ViewGroup?,
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/BlinkAnimationUtil.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/BlinkAnimationUtil.java
@@ -12,6 +12,13 @@ public class BlinkAnimationUtil {

    //实现图片闪烁效果
    public static void setAnimation(ImageView imageView) {
+        Object animObject = imageView.getTag(imageView.getId());
+        if (animObject instanceof AnimatorSet){
+            AnimatorSet animatorSet = (AnimatorSet)animObject;
+            animatorSet.start();
+            return;
+        }
+
        AnimatorSet animationSet = new AnimatorSet();
        imageView.setTag(imageView.getId(),animationSet);

@@ -32,7 +39,7 @@ public class BlinkAnimationUtil {
        Object animObject = imageView.getTag(imageView.getId());
        if (animObject instanceof AnimatorSet){
            AnimatorSet animatorSet = (AnimatorSet)animObject;
-            animatorSet.cancel();
+            animatorSet.end();
        }
    }
 }
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerMapDirectionView.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerMapDirectionView.java
@@ -104,14 +104,14 @@ public class TaxiPassengerMapDirectionView
        initAMapView();

        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
    }

    @Override
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
+        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
    }

    private void initAMapView() {
@@ -180,7 +180,7 @@ public class TaxiPassengerMapDirectionView


    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        if (location == null){
            return;
        }
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/video/VideoActivity.kt
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/video/VideoActivity.kt
@@ -13,6 +13,7 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.BarUtils
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.common.module.utils.NumberFormatUtil
 import com.mogo.och.taxi.passenger.R
@@ -293,6 +294,7 @@ class VideoActivity : AppCompatActivity() {

    override fun onResume() {
        super.onResume()
+        BarUtils.setNavBarVisibility(window,false)
        val carouselLayoutManager = rvVideoPlaylist?.layoutManager as CarouselLayoutManager
        val (centerItemPosition: Int, player) = getPlayer(carouselLayoutManager)
        if(centerItemPosition<0){
--- a/app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt
+++ b/app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt
@@ -61,54 +61,54 @@ class RoadAITest {
                                    .setRoadId("200091")
                                    .setLaneNo("-2")
                                    .setTileId("556834853")
-                                    .setBearing(156)
+                                    .setBearing(90)
                                    .build())
                                .setPoint(GPSPoint_PB
                                    .newBuilder()
-                                    .setLat(26.819533419884188)
-                                    .setLon(112.57506466334905)
+                                    .setLat(40.20313763799314)
+                                    .setLon(116.72844402744953)
                                    .build())
                                .build())
                        .addPolygon(0, GPSPoint_PB
                            .newBuilder()
-                            .setLat(26.819544927961125)
-                            .setLon(112.57503948748804)
+                            .setLat(40.20314863899314)
+                            .setLon(116.72844412744953)
                            .build())
                        .addPolygon(1, GPSPoint_PB
                            .newBuilder()
-                            .setLat(26.81953162903423)
-                            .setLon(112.57503758421541)
+                            .setLat(40.20314563819314)
+                            .setLon(116.72844412744953)
                            .build())
                        .addPolygon(2, GPSPoint_PB
                            .newBuilder()
-                            .setLat(26.81952255026517)
-                            .setLon(112.5750496963295)
+                            .setLat(40.20312263869314)
+                            .setLon(116.72844401744953)
                            .build())
                        .addPolygon(3, GPSPoint_PB
                            .newBuilder()
-                            .setLat(26.819517691652617)
-                            .setLon(112.57507582382465)
-                            .build())
-                        .addPolygon(4, GPSPoint_PB
-                            .newBuilder()
-                            .setLat(26.819521911807858)
-                            .setLon(112.57508983920647)
-                            .build())
-                        .addPolygon(5, GPSPoint_PB
-                            .newBuilder()
-                            .setLat(26.819535210732194)
-                            .setLon(112.57509174248064)
-                            .build())
-                        .addPolygon(6, GPSPoint_PB
-                            .newBuilder()
-                            .setLat(26.81954428950259)
-                            .setLon(112.5750796303722)
-                            .build())
-                        .addPolygon(7, GPSPoint_PB
-                            .newBuilder()
-                            .setLat(26.819549148117684)
-                            .setLon(112.57505350287552)
+                            .setLat(40.20322763889314)
+                            .setLon(116.7284381644953)
                            .build())
+//                        .addPolygon(4, GPSPoint_PB
+//                            .newBuilder()
+//                            .setLat(26.819521911807858)
+//                            .setLon(112.57508983920647)
+//                            .build())
+//                        .addPolygon(5, GPSPoint_PB
+//                            .newBuilder()
+//                            .setLat(26.819535210732194)
+//                            .setLon(112.57509174248064)
+//                            .build())
+//                        .addPolygon(6, GPSPoint_PB
+//                            .newBuilder()
+//                            .setLat(26.81954428950259)
+//                            .setLon(112.5750796303722)
+//                            .build())
+//                        .addPolygon(7, GPSPoint_PB
+//                            .newBuilder()
+//                            .setLat(26.819549148117684)
+//                            .setLon(112.57505350287552)
+//                            .build())
                        .addRoad(0, Road_PB
                            .newBuilder()
                            .setRoadId("200090")
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -50,6 +50,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudList
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.map.navi.MogoCarLocationChangedListenerRegister
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
@@ -210,6 +211,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
                    autopilotStatusInfo.dockVersion = it.dockVersion
                    AppConfigInfo.dockerVersion = it.dockVersion
                }
+                CallerLogger.d("Upgrade", "origin = ${autopilotStatusInfo.connectStatus} -----now = ${AppConfigInfo.isConnectAutopilot} ")
                AppConfigInfo.isConnectAutopilot = autopilotStatusInfo.connectStatus
                AppConfigInfo.connectStatusDescribe = autopilotStatusInfo.connectStatusDescribe
                invokeAutoPilotStatus()
@@ -311,7 +313,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
            header: MessagePad.Header,
            carConfigResp: MessagePad.CarConfigResp?
    ) {
-        if (HdMapBuildConfig.isMapLoaded && carConfigResp != null) {
+        if (/*HdMapBuildConfig.isMapLoaded &&*/ carConfigResp != null) {
            AppConfigInfo.plateNumber = carConfigResp.plateNumber//车牌号
            AppConfigInfo.iPCMacAddress = carConfigResp.macAddress//工控机MAC地址
            AppConfigInfo.protocolVersionNumber = carConfigResp.protocolVersionValue//工控机协议版本
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -137,13 +137,23 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
     */
    private fun syncBasicInfoToAutopilot(sn: String? = null) {
        CallerLogger.d("$M_ADAS_IMPL$TAG", "同步PAD的SN给工控机……")
-        // 设置PAD-SN给工控,网络环境
-        AdasManager.getInstance()
-            .sendBasicInfoResp(
-                MoGoAiCloudClientConfig.getInstance().sn,
-                getEnvironment(),
-                getTerminalRole()
-            )
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            // 设置PAD-SN给工控,网络环境
+            AdasManager.getInstance()
+                .sendBasicInfoResp(
+                    MoGoAiCloudClientConfig.getInstance().sn,
+                    getEnvironment(),
+                    getTerminalRole()
+                )
+        } else {
+            // 乘客屏先不传sn
+            AdasManager.getInstance()
+                .sendBasicInfoResp(
+                    "",
+                    getEnvironment(),
+                    getTerminalRole()
+                )
+        }
    }

    private fun getEnvironment(): Int {
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.autopilot.adapter;

 import android.content.Context;
 import android.text.TextUtils;
+import android.util.Log;

 import androidx.annotation.Nullable;

@@ -115,6 +116,7 @@ public class MoGoHandAdasMsgManager implements
    @Override
    public void onAutopilotCarConfig(@NotNull MessagePad.CarConfigResp carConfigResp) {
        if (carConfigResp != null && !TextUtils.isEmpty(carConfigResp.getMacAddress())) {
+            Log.d("Upgrade", "MoGoHandAdasMsgManager address = " + carConfigResp.getMacAddress());
            CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfigResp.getMacAddress(), MoGoAiCloudClientConfig.getInstance().getSn());
        }
    }
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeAppNetWorkManager.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeAppNetWorkManager.java
@@ -63,6 +63,7 @@ public class UpgradeAppNetWorkManager {
 //        String mac = "48:b0:2d:3a:bc:78";
        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
        int versionCode = AppUtils.getAppVersionCode();
+        CallerLogger.INSTANCE.d(TAG, "getAppUpgradeInfo mac = " + mac + "---type = " + screenType + "---sn = " + sn + "---versionCode =" + versionCode);
        Log.d("Upgrade", "mac = " + mac + "---type = " + screenType + "---sn = " + sn + "---versionCode =" + versionCode);
        UpgradeAppRequest request = new UpgradeAppRequest(sn, mac, screenType);
        RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
@@ -84,6 +85,7 @@ public class UpgradeAppNetWorkManager {
                            }
                        } else {
                            Log.e(TAG, "onNext info == null");
+                            CallerLogger.INSTANCE.d(TAG, "UpgradeAppInfo onNext info == null");
                        }
                    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/funcconfig/FuncConfigCenter.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/funcconfig/FuncConfigCenter.kt
@@ -47,7 +47,7 @@ class FuncConfigCenter : IMogoOnMessageListener<FuncConfig>, IMoGoAutopilotCarCo
    override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
        if (!carConfigResp.macAddress.isNullOrEmpty()) {
            UiThreadHandler.post {
-                funcConfigNetWorkModel.requestFuncConfig({
+                funcConfigNetWorkModel.requestFuncConfig(carConfigResp.macAddress, {
                    SPUtils.getInstance("biz_config").put("config", GsonUtils.toJson(it))
                    refreshConfig(it)
                }, {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/funcconfig/network/FuncConfigNetWorkModel.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/funcconfig/network/FuncConfigNetWorkModel.kt
@@ -21,6 +21,7 @@ class FuncConfigNetWorkModel {
    private var error: ((String) -> Unit)? = null

    fun requestFuncConfig(
+        mac:String,
        onSuccess: ((FuncConfig) -> Unit)? = null,
        onError: ((String) -> Unit)? = null
    ) {
@@ -34,11 +35,8 @@ class FuncConfigNetWorkModel {
                    error = onError
                }
                map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
-//                map["sn"] = "X20202203105S688HZ"
-                map["mac"] = DeviceUtils.getMacAddress()
-//                map["mac"] = "48:b0:2d:3a:bc:78"
+                map["mac"] = mac
                map["channelVersion"] = FuncConfigConst.getChannelCode()
-//                map["channelVersion"] = 1
            }
            loader {
                apiCall {
@@ -51,7 +49,7 @@ class FuncConfigNetWorkModel {
                } else {
                    if (retryTime < 3) {
                        retryTime += 1
-                        requestFuncConfig()
+                        requestFuncConfig(mac)
                    } else {
                        error?.invoke("FuncConfig error msg is null")
                    }
@@ -60,7 +58,7 @@ class FuncConfigNetWorkModel {
            onError {
                if (retryTime < 3) {
                    retryTime += 1
-                    requestFuncConfig()
+                    requestFuncConfig(mac)
                } else if (it.message != null) {
                    error?.invoke(it.message ?: "FuncConfig error msg is null")
                }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -11,7 +11,6 @@ import android.text.Html
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
-import android.widget.*
 import androidx.annotation.RequiresApi
 import androidx.appcompat.widget.PopupMenu
 import androidx.constraintlayout.widget.ConstraintLayout
@@ -61,7 +60,6 @@ import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.logcatch.ILogViewListener
 import com.mogo.eagle.core.function.hmi.ui.logcatch.LogInfoView
 import com.mogo.eagle.core.function.hmi.ui.upgrade.UpgradeListAdapter
-import com.mogo.eagle.core.network.*
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel
@@ -186,7 +184,7 @@ class DebugSettingView @JvmOverloads constructor(
        // 添加 ADAS车辆状态&定位 监听
        CallerAutopilotCarStatusListenerManager.addListener(TAG, this)
        // 添加 地图样式改变 监听
-        CallerMapLocationListenerManager.addListener(TAG, this)
+        CallerMapLocationListenerManager.addListener(TAG, this, false)
        // 添加 域控制器感知数据 监听
        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
        // 添加 规划路径相关回调 监听
@@ -221,7 +219,7 @@ class DebugSettingView @JvmOverloads constructor(
        // 移除 ADAS车辆状态&定位 监听
        CallerAutopilotCarStatusListenerManager.removeListener(TAG)
        // 移除 地图样式改变 监听
-        CallerMapLocationListenerManager.removeListener(TAG)
+        CallerMapLocationListenerManager.removeListener(TAG, false)
        // 移除 域控制器感知数据 监听
        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
        // 移除 规划路径相关回调 监听
@@ -2014,7 +2012,7 @@ class DebugSettingView @JvmOverloads constructor(
        }
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int) {
+    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
    }

    /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -76,22 +76,23 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
    }

    private void queryAppUpgrade() {
-        UiThreadHandler.postDelayed(new Runnable() {
-            @Override
-            public void run() {
-                Log.e("Upgrade", "queryAppUpgrade isConnectAutopilot = " + AppConfigInfo.INSTANCE.isConnectAutopilot());
-                if (AppConfigInfo.INSTANCE.isConnectAutopilot()) {
-                    MoGoHandAdasMsgManager.getInstance(getBaseContext()).getConfig();
-                }
-            }
-        },8000);
+//        UiThreadHandler.postDelayed(new Runnable() {
+//            @Override
+//            public void run() {
+//                CallerLogger.INSTANCE.d("Upgrade","queryAppUpgrade isConnectAutopilot = " + AppConfigInfo.INSTANCE.isConnectAutopilot());
+//                Log.e("Upgrade", "queryAppUpgrade isConnectAutopilot = " + AppConfigInfo.INSTANCE.isConnectAutopilot());
+//                if (AppConfigInfo.INSTANCE.isConnectAutopilot()) {
+//                    MoGoHandAdasMsgManager.getInstance(getBaseContext()).getConfig();
+//                }
+//            }
+//        },9000);

        UiThreadHandler.postDelayed(new Runnable() {
            @Override
            public void run() {
                CallerBindingcarManager.getBindingcarProvider().queryAppUpgrade();
            }
-        },10000);
+        },9000);
    }

    private void checkMonitorDb() {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt
@@ -6,7 +6,6 @@ import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.cloud.passport.IMoGoTokenCallback
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
-import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -46,7 +45,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
    private var hasInit = false

    override fun init(context: Context?) {
-        CallerMapLocationListenerManager.addListener(functionName, this)
+        CallerMapLocationListenerManager.addListener(functionName, this, false)
        executor.set(context?.let {
            GatherApi.also { itx ->
            itx.init(it,
@@ -65,7 +64,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
    }

    override fun onDestroy() {
-        CallerMapLocationListenerManager.removeListener("$M_MAP$TAG")
+        CallerMapLocationListenerManager.removeListener("$M_MAP$TAG", false)
        CallerLogger.d("$M_MAP$TAG", "--------- onDestroy --------")
        executor.get()?.setOnTaskListener(null)
        listeners.clear()
@@ -148,7 +147,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
        }
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int) {
+    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
        location ?: return
        executor.get()?.updateLocation(
                location.longitude,
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackerSourceHelper.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackerSourceHelper.kt
@@ -43,12 +43,12 @@ object TrackerSourceHelper {
        }

        if (isV2I(data).second) {
-            color = "#00AEFF"
+            color = "#00AEFFFF"
        }

        //等级最高
        if (isObu(data).second) {
-            color = "#36D3FE"
+            color = "#36D3FEFF"
            // obu预警
            isObu(data).first?.let {
                val obuColor = WarningHelper.getObuColor(it.id)
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
@@ -130,7 +130,7 @@ public class AMapCustomView
        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
        initAMapView(context);
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
        //设置全览模式
        overLayerView.setOnClickListener(v -> {
            displayCustomOverView();
@@ -258,7 +258,7 @@ public class AMapCustomView
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
+        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
    }

@@ -269,7 +269,7 @@ public class AMapCustomView


    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        mLocation = location;
        MarkerDrawerManager.INSTANCE.setLonLat(new Pair(location.getLongitude(), location.getLatitude()));
        drawCarMarker(location);
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
@@ -99,14 +99,14 @@ public class SmallMapDirectionView
        initAMapView();

        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
    }

    @Override
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
+        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
    }

    private void initAMapView() {
@@ -162,7 +162,7 @@ public class SmallMapDirectionView


    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        if (location == null) {
            return;
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -14,7 +14,6 @@ import com.mogo.cloud.passport.IMoGoTokenCallback
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.network.ParamsUtil
-import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_V2N
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD_SHOW
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CLOUD_V2N
@@ -140,7 +139,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb

    private fun registerListener() {
        V2XManager.addCallback(this)
-        CallerMapLocationListenerManager.addListener(TAG, this)
+        CallerMapLocationListenerManager.addListener(TAG, this, false)
        BridgeApi.registerCenter()?.let {
            it.registerMogoMapListener(MODULE_NAME, this)
            it.registerMogoMarkerClickListener(
@@ -160,7 +159,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb

    private fun unRegisterListener() {
        V2XManager.removeCallback(this)
-        CallerMapLocationListenerManager.removeListener(TAG)
+        CallerMapLocationListenerManager.removeListener(TAG, false)
        BridgeApi.registerCenter()?.let {
            it.unregisterMogoMapListener(MODULE_NAME)
            it.unregisterMogoMarkerClickListener(ModuleNames.CARD_TYPE_ROAD_CONDITION)
@@ -331,7 +330,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
        })
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int) {
+    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
        location ?: return
        BridgeApi.location.set(location)
        if (V2XManager.hasInit()) {
@@ -485,7 +484,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
                        val p = CoordinateUtils.transformWgsToGcj(this.roadwork?.center?.point?.lat ?: 0.0, this.roadwork?.center?.point?.lon ?: 0.0)
                        l4.lon = p[0]
                        l4.lat = p[1]
-                        AiRoadMarker.enqueue(Marker(this.roadwork?.center?.point?.lat ?: 0.0, this.roadwork?.center?.point?.lon ?: 0.0, this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.map { d ->
+                        AiRoadMarker.enqueue(Marker(this.roadwork?.center?.point?.lat ?: 0.0, this.roadwork?.center?.point?.lon ?: 0.0, this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0,  this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.map { d ->
                            android.util.Pair(d.lon, d.lat)
                        }))
                        l4.angle = this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -1,8 +1,10 @@
 package com.mogo.eagle.core.function.v2x.events.scenario.scene.airoad

+import android.animation.*
 import android.content.*
 import android.graphics.*
 import android.util.*
+import android.view.animation.*
 import androidx.lifecycle.*
 import androidx.lifecycle.Lifecycle.Event
 import androidx.lifecycle.Lifecycle.Event.ON_CREATE
@@ -10,7 +12,6 @@ import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
 import com.mogo.eagle.core.data.map.*
 import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
 import com.mogo.eagle.core.function.api.map.listener.*
-import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
 import com.mogo.eagle.core.utilcode.kotlin.*
@@ -22,6 +23,7 @@ import io.netty.util.internal.*
 import java.util.*
 import java.util.concurrent.*
 import java.util.concurrent.atomic.*
+import kotlin.collections.ArrayList

 /**
 * Ai云道路施工事件，道路颜色标记类
@@ -40,19 +42,19 @@ object AiRoadMarker {

    private val overlayManager by lazy { MogoOverlayManager.getInstance() }

-    private val redLine by lazy { AtomicReference<IMogoPolyline>() }
+    private val line by lazy { AtomicReference<IMogoPolyline>() }

-    private val redLineColors = arrayListOf(Color.parseColor("#002ABAD9"), Color.parseColor("#FF7A30"))
+    private val START_COLOR = Color.parseColor("#002ABAD9")
+    private val END_COLOR   = Color.parseColor("#FFFF7A30")

-    private val markerCache = ConcurrentSet<Marker>()
+    private val markers = ConcurrentSet<Marker>()

-    private val redLineOptions by lazy {
+    private val options by lazy {
        MogoPolylineOptions().apply {
            zIndex(40000f)
            setGps(true)
-            width(30f)
+            width(50f)
            useGradient(true)
-            colorValues(redLineColors)
        }
    }

@@ -70,21 +72,30 @@ object AiRoadMarker {

        pool.execute {
            var interrupted = false
-            Log.d(TAG, "--- consumer --- 0 ---")
+            Logger.d(TAG, "--- consumer --- 0 ---")
            while (!interrupted) {
                try {
-                    Log.d(TAG, "--- consumer --- 1 ---")
+                    Logger.d(TAG, "--- consumer --- 1 ---")
                    val top = queue.take() ?: continue
-                    Log.d(TAG, "--- consumer --- 2 ---")
-                    val location = carLocation.get() ?: continue
-                    val isFrontOfCar = isFrontOfCar(top.poi_lon, top.poi_lat, location.first, location.second, location.third)
-                    val isSameRoad = isSameRoad(top.poi_lon, top.poi_lat, location.first, location.second, location.third)
-                    Log.d(TAG, "--- consumer --- 3 ---isFrontOfCar: $isFrontOfCar, isSameRoad: $isSameRoad")
-                    if (isFrontOfCar && isSameRoad) {
+                    Logger.d(TAG, "--- consumer --- 2 ---")
+                    val location = carLocation.get()
+                    if (location == null) {
+                        if (queue.isEmpty()) {
+                            synchronized(markers) {
+                                markers.clear()
+                            }
+                        }
+                        continue
+                    }
+                    val isTrigger = isTriggerEvent(top.poi_lon, top.poi_lat, location.first, location.second, location.third)
+                    Logger.d(TAG, "--- consumer --- 3 ---: isTrigger => $isTrigger")
+                    if (isTrigger) {
                        marker.set(top)
                        marker(top)
                    } else {
-                        markerCache.remove(top)
+                        synchronized(markers) {
+                            markers.remove(top)
+                        }
                    }
                    interrupted = Thread.currentThread().isInterrupted
                } catch (e: InterruptedException) {
@@ -95,11 +106,12 @@ object AiRoadMarker {
        }
    }

-    private fun isSameRoad(x1: Double, y1: Double, x2: Double, y2: Double, angle: Double): Boolean {
-        val c1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(x1, y1, angle.toFloat(), 500f)
-        val c2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(x2, y2, angle.toFloat(), 500f)
-        Log.d(TAG, "isSameRoad--: [$x1, $y1, ${c1.road_id}] ==> [$x2, $y2, ${c2.road_id}]")
-        return c1 != null && c2 != null && c1.road_id.isNotEmpty() && c1.road_id == c2.road_id
+    private fun isTriggerEvent(x1: Double, y1: Double, x2: Double, y2: Double, a2: Double): Boolean {
+        val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(x2, y2, x1, y1, a2)
+        if (angle <= 60 && DrivingDirectionUtils.distance(x1, y1, x2, y2) <= 300) {
+            return true
+        }
+        return false
    }

    private val onRoadListener = object : OnRoadListener {
@@ -107,7 +119,7 @@ object AiRoadMarker {
        private var hasCrossRoad = false

        override fun onRoadIdInfo(roadId: String) {
-            Log.d(TAG, "--- onRoadInfo --- roadId: $roadId")
+            Logger.d(TAG, "--- onRoadInfo --- roadId: $roadId")
            val oldRoadId = this.roadId
            if (oldRoadId != roadId) {
                if (hasCrossRoad) {
@@ -117,7 +129,7 @@ object AiRoadMarker {
            this.roadId = roadId
        }
        override fun onStopLineInfo(info: StopLine) {
-            Log.d(TAG, "--- onStopLineInfo --- info: $info")
+            Logger.d(TAG, "--- onStopLineInfo --- info: $info")
            if (!hasCrossRoad) {
                hasCrossRoad = true
            }
@@ -127,17 +139,17 @@ object AiRoadMarker {
    private val onLocationListener = object : IMoGoMapLocationListener {


-        override fun onLocationChanged(location: MogoLocation?, from: Int) {
-            if (location == null) {
+        override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
+            if (location == null || !isGps) {
                return
            }
            try {
-                val loc = arrayOf(CallerAutoPilotStatusListenerManager.getCurWgs84Lon(), CallerAutoPilotStatusListenerManager.getCurWgs84Lat())
+                val loc = arrayOf(location.longitude, location.latitude)
                carLocation.set(Triple(loc[0], loc[1], location.bearing.toDouble()))
                val marker = marker.get() ?: return
                val isOutOfRange = isOutOfRange(marker.poi_lon, marker.poi_lat, carLocation.get().first, carLocation.get().second, carLocation.get().third)
                if (isOutOfRange) {
-                    Log.d(TAG, "--- onLocationChanged: isOutOfRange --- ")
+                    Logger.d(TAG, "--- onLocationChanged: isOutOfRange --- ")
                    unMarker(marker)
                }
            } catch (t: Throwable) {
@@ -148,42 +160,48 @@ object AiRoadMarker {

    private fun onCreate() {
        CallerMapRoadListenerManager.registerRoadListener(TAG, onRoadListener)
-        CallerMapLocationListenerManager.addListener(TAG, onLocationListener)
+        CallerMapLocationListenerManager.addListener(TAG, onLocationListener, true)
    }

    private fun onDestroy() {
        CallerMapRoadListenerManager.unRegisterRoadListener(TAG)
-        CallerMapLocationListenerManager.removeListener(TAG)
+        CallerMapLocationListenerManager.removeListener(TAG, true)
        pool.shutdownNow()
-        removeRedLine()
+        removeLine()
    }


    fun enqueue(marker: Marker) {
-        Log.d(TAG, "--- enqueue --- 1 ---")
-        if (markerCache.contains(marker)) {
-            Log.d(TAG, "--- enqueue --- cache hit ---")
+        Logger.d(TAG, "--- enqueue --- 1 ---")
+        if (markers.contains(marker)) {
+            Logger.d(TAG, "--- enqueue --- cache hit ---")
            return
        }
-        Log.d(TAG, "--- enqueue --- 2 ---")
-        markerCache += marker
+        Logger.d(TAG, "--- enqueue --- 2 ---")
+        synchronized(markers) {
+            markers += marker
+        }
        pool.execute {
-            Log.d(TAG, "--- enqueue --- 3 ---${Thread.currentThread().name}::${Thread.currentThread().id}")
+            Logger.d(TAG, "--- enqueue --- 3 ---${Thread.currentThread().name}::${Thread.currentThread().id}")
            queue.put(marker)
        }
    }

    private fun marker(marker: Marker) {
-        Log.d(TAG, "--- marker --- 1 ---")
        val location = carLocation.get() ?: return
-        Log.d(TAG, "--- marker --- 2 ---")
-        removeRedLine()
        //施工中心点前方的自车行驶方向上300米距离
        val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), 300f)
        //施工中心点后方的自车行驶方向上300米距离
-        Log.d(TAG, "--- marker --- 3 --- l1: $l1")
+        Logger.d(TAG, "--- marker --- 3 --- l1: $l1")
        val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), -300f)
-        Log.d(TAG, "--- marker --- 4 --- l2: $l2")
+        if (l1.points.isEmpty() || l2.points.isEmpty()) {
+            Logger.d(TAG, "--- marker --- 3 --- return ----")
+            synchronized(markers) {
+                markers.remove(marker)
+            }
+            return
+        }
+        Logger.d(TAG, "--- marker --- 4 --- l2: $l2")
        val points = LinkedList<MogoLatLng>()
        if (l2 != null && l2.points.isNotEmpty()) {
            points.addAll(l2.points.reversed().map {
@@ -192,7 +210,7 @@ object AiRoadMarker {
        }
        val centerX= marker.poi_lon
        val centerY = marker.poi_lat
-        Log.d(TAG, "--- marker --- 5 --- marker: $marker")
+        Logger.d(TAG, "--- marker --- 5 --- marker: $marker")
        val farthestPoint = marker.polygon?.let {
            var find: Pair<Double, Double> = Pair(centerX, centerY)
            var min = Long.MAX_VALUE
@@ -203,46 +221,61 @@ object AiRoadMarker {
                    find = p
                }
             }
-             MogoLatLng(find.second, find.second)
+             MogoLatLng(find.second, find.first)
        } ?: MogoLatLng(centerY, centerX)
        marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
-        Log.d(TAG, "--- marker --- 6 --- marker: $marker")
+        Logger.d(TAG, "--- marker --- 6 --- marker: $marker")
        if (l1 != null && l1.points.isNotEmpty()) {
            for (l in l1.points) {
-                if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, location.third) < 90L) {
+                if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, location.third + 180) < 90L) {
                    points.add(l.let { MogoLatLng(it.second, it.first) })
                }
            }
        }
-        var line = redLine.get()
-        redLineOptions.points(points)
-        Log.d(TAG, "--- marker --- 7 --- points: ${points.size}")
+        if (points.size <= 1) {
+            synchronized(markers) {
+                markers.remove(marker)
+            }
+            return
+        }
+        removeLine()
+        val evaluator = ArgbEvaluator()
+        val interceptor = DecelerateInterpolator(1.5f)
+        val total = points.size
+        val colors = ArrayList<Int>()
+        (0..total).forEach { i ->
+            colors += evaluator.evaluate(interceptor.getInterpolation(i * 1f / total), START_COLOR, END_COLOR) as Int
+        }
+        var line = line.get()
+        options.points(points)
+        options.colorValues(colors)
+        Logger.d(TAG, "--- marker --- 7 --- points: ${points.size}")
        if (line == null || line.isDestroyed) {
-            val l = overlayManager.addPolyline(redLineOptions)
-            this.redLine.set(l)
+            val l = overlayManager.addPolyline(options)
+            this.line.set(l)
            line = l
        } else {
-            line.setOption(redLineOptions)
+            line.setOption(options)
        }
        if (!line.isVisible) {
            line.isVisible = true
        }
    }

-    private fun removeRedLine() {
-        val old = redLine.get()
-        Log.d(TAG, "--- removeRedLine --- 1 ---")
+    private fun removeLine() {
+        val old = line.get()
+        Logger.d(TAG, "--- removeRedLine --- 1 ---")
        if (old != null) {
-            Log.d(TAG, "--- removeRedLine --- 2 ---")
-            redLine.set(null)
+            Logger.d(TAG, "--- removeRedLine --- 2 ---")
+            line.set(null)
            old.isVisible = false
            old.remove()
        }
    }

    private fun unMarker(marker: Marker) {
-        markerCache -= marker
-        removeRedLine()
+        markers -= marker
+        removeLine()
    }

    private fun isOutOfRange(markerLon: Double, markerLat: Double, carLon: Double, carLat: Double, carAngle: Double): Boolean {
@@ -257,6 +290,7 @@ object AiRoadMarker {
    data class Marker(
        val poi_lat: Double,
        val poi_lon: Double,
+        val poi_angle: Double,
        val polygon: List<Pair<Double, Double>>?,
        var farthestPoint: Pair<Double, Double>? = null
    ) {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -106,7 +106,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoMapL
    }

    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        sV2XWarningMarker.onCarLocationChanged2(location);
    }

--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt
@@ -28,7 +28,7 @@ enum class TrafficTypeEnum(
        "人",
        R.raw.traffic_people,
        R.raw.xingren,
-        R.raw.traffic_people
+        R.raw.xingren
    ),
    TYPE_TRAFFIC_ID_BICYCLE(
        2,
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/listener/IMoGoMapLocationListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/listener/IMoGoMapLocationListener.kt
@@ -13,5 +13,5 @@ interface IMoGoMapLocationListener {
     *
     * @param location 新定位点
     */
-    fun onLocationChanged(location: MogoLocation?, from: Int)
+    fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean)
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.call.autopilot

+import android.util.*
 import androidx.annotation.Nullable
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
@@ -65,14 +66,18 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
     * 获取当前时刻WGS84 lat
     */
    fun getCurWgs84Lat(): Double {
-        return mAutopilotStatusInfo.locationLat
+        val locationLat = mAutopilotStatusInfo.locationLat
+        Log.d("GO", "wgs84_lat:" + locationLat)
+        return locationLat
    }

    /**
     * 获取当前时刻WGS84 lon
     */
    fun getCurWgs84Lon(): Double {
-        return mAutopilotStatusInfo.locationLon
+        val locationLon = mAutopilotStatusInfo.locationLon
+        Log.d("GO", "wgs84_lon:" + locationLon)
+        return locationLon
    }

    /**
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarConfigListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarConfigListenerManager.kt
@@ -11,6 +11,8 @@ import java.util.concurrent.ConcurrentHashMap
 */
 object CallerAutopilotCarConfigListenerManager : CallerBase() {

+    private var mCarConfigResp: MessagePad.CarConfigResp?= null
+
    // 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_CAR_CONFIG_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotCarConfigListener> =
        ConcurrentHashMap()
@@ -28,6 +30,10 @@ object CallerAutopilotCarConfigListenerManager : CallerBase() {
            return
        }
        M_AUTOPILOT_CAR_CONFIG_LISTENERS[tag] = listener
+
+        mCarConfigResp?.let {
+            listener.onAutopilotCarConfig(it)
+        }
    }

    /**
@@ -59,6 +65,7 @@ object CallerAutopilotCarConfigListenerManager : CallerBase() {
     */
    @Synchronized
    fun invokeAutopilotCarConfigData(carConfigResp: MessagePad.CarConfigResp) {
+        mCarConfigResp = carConfigResp
        M_AUTOPILOT_CAR_CONFIG_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotCarConfig(carConfigResp)
--- 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
@@ -16,10 +16,19 @@ object CallerMapLocationListenerManager : CallerBase() {
    // 记录地图最后一次位置
    private var mLocation: MogoLocation? = null

+    /**
+     * 记录最后一次高精坐标的位置
+     */
+    private var mGpsLocation: MogoLocation? = null
+
    // 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 mMapStyleChangeListeners: ConcurrentHashMap<String, IMoGoMapLocationListener> =
        ConcurrentHashMap()

+
+    // 高精坐标回调
+    private val mGpsChangedListeners: ConcurrentHashMap<String, IMoGoMapLocationListener> = ConcurrentHashMap()
+
    /**
     * 获取当前经纬度
     */
@@ -27,44 +36,76 @@ object CallerMapLocationListenerManager : CallerBase() {
        return mLocation
    }

+    /**
+     * 获取当前高精坐标
+     */
+    fun getCurrentGpsLocation(): MogoLocation? {
+        return mGpsLocation
+    }
+
    /**
     * 添加 地图样式改变 监听
     * @param tag 标记，用来注销监听使用
     * @param listener 监听回调
     */
-    fun addListener(
-        @Nullable tag: String,
-        @Nullable listener: IMoGoMapLocationListener
-    ) {
-        if (mMapStyleChangeListeners.containsKey(tag)) {
-            return
+    fun addListener(@Nullable tag: String, @Nullable listener: IMoGoMapLocationListener, isGps: Boolean) {
+        if (!isGps) {
+            if (mMapStyleChangeListeners.containsKey(tag)) {
+                return
+            }
+            mMapStyleChangeListeners[tag] = listener
+            listener.onLocationChanged(mLocation, 0, isGps)
+        } else {
+            if (mGpsChangedListeners.containsKey(tag)) {
+                return
+            }
+            mGpsChangedListeners[tag] = listener
+            listener.onLocationChanged(mGpsLocation, 0, isGps)
        }
-        mMapStyleChangeListeners[tag] = listener
-        listener.onLocationChanged(mLocation, 0)
+
    }

    /**
     * 删除 地图样式改变 监听
     * @param tag 标记，用来注销监听使用
     */
-    fun removeListener(@Nullable tag: String) {
-        if (!mMapStyleChangeListeners.containsKey(tag)) {
-            return
+    fun removeListener(@Nullable tag: String, isGps: Boolean) {
+        if (!isGps) {
+            if (!mMapStyleChangeListeners.containsKey(tag)) {
+                return
+            }
+            mMapStyleChangeListeners.remove(tag)
+        } else {
+            if (!mGpsChangedListeners.containsKey(tag)) {
+                return
+            }
+            mGpsChangedListeners.remove(tag)
        }
-        mMapStyleChangeListeners.remove(tag)
+
    }

    /**
     * 删除 地图样式改变 监听
     * @param listener 要删除的监听对象
     */
-    fun removeListener(@Nullable listener: IMoGoMapLocationListener) {
-        if (!mMapStyleChangeListeners.containsValue(listener)) {
-            return
-        }
-        mMapStyleChangeListeners.forEach {
-            if (it.value == listener) {
-                mMapStyleChangeListeners.remove(it.key)
+    fun removeListener(@Nullable listener: IMoGoMapLocationListener, isGps: Boolean) {
+        if (!isGps) {
+            if (!mMapStyleChangeListeners.containsValue(listener)) {
+                return
+            }
+            mMapStyleChangeListeners.forEach {
+                if (it.value == listener) {
+                    mMapStyleChangeListeners.remove(it.key)
+                }
+            }
+        } else {
+            if (!mGpsChangedListeners.containsValue(listener)) {
+                return
+            }
+            mGpsChangedListeners.forEach {
+                if (it.value == listener) {
+                    mGpsChangedListeners.remove(it.key)
+                }
            }
        }
    }
@@ -73,20 +114,25 @@ object CallerMapLocationListenerManager : CallerBase() {
     * 触发 地图样式改变 监听
     */
    fun invokeMapLocationChangeListener() {
-        invokeMapLocationChangeListener(mLocation, 0)
+        invokeMapLocationChangeListener(mLocation, 0, false)
    }

    /**
     * 触发 地图样式改变 监听
     * @param location 选中状态
     */
-    fun invokeMapLocationChangeListener(location: MogoLocation?, from: Int) {
-        mLocation = location
-        mMapStyleChangeListeners.forEach {
-            val tag = it.key
-            val listener = it.value
-            listener.onLocationChanged(location, from)
+    fun invokeMapLocationChangeListener(location: MogoLocation?, from: Int, isGps: Boolean) {
+        if (!isGps) {
+            mLocation = location
+            mMapStyleChangeListeners.forEach {
+                val listener = it.value
+                listener.onLocationChanged(location, from, isGps)
+            }
+        } else {
+            mGpsLocation = location
+            mGpsChangedListeners.forEach {
+                it.value.onLocationChanged(location, from, isGps)
+            }
        }
    }
-
 }
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
@@ -5,6 +5,7 @@ import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.map.overlay.MogoPolylineOptions;
+import com.mogo.map.road.RoadNameInfo;
 import com.mogo.map.uicontroller.IMogoMapUIController;

 import java.util.ArrayList;
@@ -185,4 +186,14 @@ public interface IMogoMap {
     * @return 中心线相关数据
     */
    CenterLine getCenterLineRangeInfo(double lon, double lat, float angle, float distance);
+
+
+    /**
+     * 根据自车经纬度和航向角，获取道路名称
+     * @param lon 经度
+     * @param lat 纬度
+     * @param angle 航向角
+     * @return 道路名称等相关信息
+     */
+    RoadNameInfo getRoadName(double lon, double lat, float angle);
 }
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/road/RoadNameInfo.kt
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/road/RoadNameInfo.kt
@@ -0,0 +1,3 @@
+package com.mogo.map.road
+
+data class RoadNameInfo(val tile_id: String? = "", val road_id: String? = "", val road_name: String? = "")
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
@@ -72,6 +72,7 @@ import com.zhidaoauto.map.sdk.open.camera.CameraPosition;
 import com.zhidaoauto.map.sdk.open.camera.CameraUpdateFactory;
 import com.zhidaoauto.map.sdk.open.camera.LatLngBounds;
 import com.zhidaoauto.map.sdk.open.data.MapDataApi;
+import com.zhidaoauto.map.sdk.open.location.LocationClient;
 import com.zhidaoauto.map.sdk.open.location.LocationListener;
 import com.zhidaoauto.map.sdk.open.location.MyLocationStyle;
 import com.zhidaoauto.map.sdk.open.location.RTKAutopilotLocationBean;
@@ -125,6 +126,8 @@ public class AMapViewWrapper implements IMogoMapView,
    private boolean mIsFirstLocated = true;
    private boolean mIsDelayed = false;

+    private final LocationListener mGpsLocationListener = location -> CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(ObjectUtils.fromLocation(location), 0, true);
+
    public AMapViewWrapper(MapAutoView mMapView) {
        CallerLogger.INSTANCE.i(M_MAP + TAG, "autoop--AMapViewWrapper: init");
        this.mMapView = mMapView;
@@ -186,7 +189,11 @@ public class AMapViewWrapper implements IMogoMapView,
        mMapView.setOnMapLoadedListener(this);
        mMapView.setOnMapTouchListener(this);
        mMapView.setOnMapClickListener(this);
-        mMapView.getLocationClient().registerListener(this);
+        LocationClient client = mMapView.getLocationClient();
+        if (client != null) {
+            client.registerListener(this);
+            client.registerGpsListener(mGpsLocationListener);
+        }
        mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_ZOOM);
        mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_ROTATE);
        mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_3D);
@@ -720,7 +727,7 @@ public class AMapViewWrapper implements IMogoMapView,
        @Override
        public void run() {
            if (location != null) {
-                CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(location, 1);
+                CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(location, 1, false);
                location = null;
            }
        }
@@ -734,7 +741,7 @@ public class AMapViewWrapper implements IMogoMapView,
    public void onLocationChanged(@NotNull com.zhidaoauto.map.sdk.open.location.MogoLocation location) {
        MogoLocation currentLocation = ObjectUtils.fromLocation(location);
        if (Looper.myLooper() == Looper.getMainLooper()) {
-            CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(currentLocation, 1);
+            CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(currentLocation, 1, false);
        } else {
            if (mLocationTask == null) {
                mLocationTask = new LocationTask();
@@ -1004,19 +1011,27 @@ public class AMapViewWrapper implements IMogoMapView,
        if (gnssInfo.getLongitude() == -1) {
            return;
        }
-        RTKAutopilotLocationBean bean = new RTKAutopilotLocationBean();
-        bean.setYaw_rate(gnssInfo.getYawRate());
-        bean.setHeading(gnssInfo.getHeading());
-        bean.setAcceleration(gnssInfo.getAcceleration());
-        bean.setAlt(gnssInfo.getAltitude());
-        bean.setSystemTime(Double.valueOf(gnssInfo.getSystemTime()).longValue());
+        LonLatPoint bean = new LonLatPoint();
+        bean.setAngle(gnssInfo.getHeading());
+        bean.setAltitude(gnssInfo.getAltitude());
+        bean.setLongitude(gnssInfo.getLongitude());
+        bean.setLatitude(gnssInfo.getLatitude());
        bean.setSatelliteTime(Double.valueOf(gnssInfo.getSatelliteTime() * 1000).longValue());
-        bean.setLon(gnssInfo.getLongitude());
-        bean.setLat(gnssInfo.getLatitude());
-        bean.setGnss_speed(((float) gnssInfo.getGnssSpeed()));
-        bean.setReceiverDataTime(System.currentTimeMillis());
+        bean.setSpeed((float) gnssInfo.getGnssSpeed());
+//        RTKAutopilotLocationBean bean = new RTKAutopilotLocationBean();
+//        bean.setYaw_rate(gnssInfo.getYawRate());
+//        bean.setHeading(gnssInfo.getHeading());
+//        bean.setAcceleration(gnssInfo.getAcceleration());
+//        bean.setAlt(gnssInfo.getAltitude());
+//        bean.setSystemTime(Double.valueOf(gnssInfo.getSystemTime()).longValue());
+//        bean.setSatelliteTime(Double.valueOf(gnssInfo.getSatelliteTime() * 1000).longValue());
+//        bean.setLon(gnssInfo.getLongitude());
+//        bean.setLat(gnssInfo.getLatitude());
+//        bean.setGnss_speed(((float) gnssInfo.getGnssSpeed()));
+//        bean.setReceiverDataTime(System.currentTimeMillis());
        // 使用外部定位数据修改自车位置
-        mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
+//        mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
+        mMapView.getLocationClient().updateLocation(bean);
        CallerMapUIServiceManager.INSTANCE.getSingletonLocationClient(getContext()).updateLocation(bean);
        CallerMapDataCollectorManager.INSTANCE.setIsInit();
    }
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
@@ -17,6 +17,7 @@ import com.mogo.map.marker.MogoMarkersHandler;
 import com.mogo.map.overlay.AMapPolylineWrapper;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.map.overlay.MogoPolylineOptions;
+import com.mogo.map.road.RoadNameInfo;
 import com.mogo.map.uicontroller.AMapUIController;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.utils.ObjectUtils;
@@ -334,6 +335,16 @@ public class AMapWrapper implements IMogoMap {
        return ret;
    }

+    @Override
+    public RoadNameInfo getRoadName(double lon, double lat, float angle) {
+//        com.zhidaoauto.map.sdk.open.road.RoadNameInfo info = MapDataApi.INSTANCE.getRoadName(lon, lat, angle);
+//        RoadNameInfo ret = null;
+//        if (info != null) {
+//            ret = new RoadNameInfo(info.tile_id, info.road_id, info.road_name);
+//        }
+        return null;
+    }
+
    private List<Pair<Double, Double>> convert(List<LonLatPoint> points) {
        if (points == null || points.isEmpty()) {
            return Collections.emptyList();
--- a/libraries/mogo-map/src/main/java/com/mogo/map/location/ALocationClient.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/location/ALocationClient.java
@@ -11,6 +11,7 @@ import com.mogo.map.utils.ObjectUtils;
 import com.zhidaoauto.map.sdk.open.location.LocationClient;
 import com.zhidaoauto.map.sdk.open.location.LocationListener;
 import com.zhidaoauto.map.sdk.open.location.RTKAutopilotLocationBean;
+import com.zhidaoauto.map.sdk.open.query.LonLatPoint;

 import org.jetbrains.annotations.NotNull;

@@ -115,7 +116,7 @@ public class ALocationClient implements IMogoLocationClient {
            }
            Trace.beginSection( "timer.onLocationChanged" );
            mLastLocation = ObjectUtils.fromLocation( location );
-            UiThreadHandler.post(() -> CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(mLastLocation, 0));
+            UiThreadHandler.post(() -> CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(mLastLocation, 0, false));

            Set< IMogoLocationListener > listeners = MogoLocationListenerRegister.getInstance().getListeners();
            synchronized ( listeners ) {
@@ -140,10 +141,16 @@ public class ALocationClient implements IMogoLocationClient {
        if (locationToUpdate instanceof MogoLocation) {
            return;
        }
-        if (locationToUpdate instanceof RTKAutopilotLocationBean) {
-            RTKAutopilotLocationBean current = (RTKAutopilotLocationBean) locationToUpdate;
+//        if (locationToUpdate instanceof RTKAutopilotLocationBean) {
+//            RTKAutopilotLocationBean current = (RTKAutopilotLocationBean) locationToUpdate;
+//            if (mClient != null) {
+//                mClient.updateRTKAutoPilotLocation(current);
+//            }
+//        }
+        if (locationToUpdate instanceof com.zhidaoauto.map.sdk.open.query.LonLatPoint) {
+            LonLatPoint current = (LonLatPoint) locationToUpdate;
            if (mClient != null) {
-                mClient.updateRTKAutoPilotLocation(current);
+                mClient.updateLocation(current);
            }
        }
    }
--- a/modules/mogo-module-service/src/main/assets/loc.txt
+++ b/modules/mogo-module-service/src/main/assets/loc.txt
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -45,7 +45,7 @@ public class MogoRouteOverlayManager implements
    public void init() {
        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
    }

    public static MogoRouteOverlayManager getInstance() {
@@ -68,7 +68,7 @@ public class MogoRouteOverlayManager implements
    }

    @Override
-    public void onLocationChanged(@Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        if (from != 1 || location == null) {
            return;
        }