From 8b4893b40ec736e1b1b49f03a60da6a2c01943bb Mon Sep 17 00:00:00 2001
From: unknown <zhongchao@zdauto.com>
Date: Wed, 25 Nov 2020 11:09:46 +0800
Subject: [PATCH 1/7] fix bug of websocket DNS and wait for ws: server online
 to replace httpUrl

---
 .../mogo/base/websocket/WebSocketConstant.java | 18 +++++++++++-------
 .../base/websocket/WebSocketDnsManager.java    |  8 ++++----
 .../mogo/base/websocket/WebSocketManager.java  | 14 +++++++-------
 3 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
index 7d080b3254..78687e6637 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
@@ -5,13 +5,14 @@ import com.mogo.commons.debug.DebugConfig;
 
 public class WebSocketConstant {
 
-    private static final String HOST_DEV = "ws://62.234.196.121:14001/ws";
-    private static final String HOST_QA = "ws://62.234.196.121:14001/ws";
-    private static final String HOST_DEMO = "ws://62.234.196.121:14001/ws";
-    private static final String HOST_RELEASE = "ws://62.234.196.121:14001/ws";
+    private static final String HOST_DEV = "ws://62.234.196.121";
+    private static final String HOST_QA = "ws://62.234.196.121";
+    private static final String HOST_DEMO = "ws://62.234.196.121";
+    private static final String HOST_RELEASE = "ws://62.234.196.121";
+    private static final String PORT = ":14001/ws";
 
-    public static String getSocketServer(){
-        switch (DebugConfig.getNetMode()){
+    public static String getSocketServer() {
+        switch (DebugConfig.getNetMode()) {
             case DebugConfig.NET_MODE_DEV:
                 return HOST_DEV;
             case DebugConfig.NET_MODE_QA:
@@ -21,7 +22,10 @@ public class WebSocketConstant {
             case DebugConfig.NET_MODE_RELEASE:
             default:
                 return HOST_RELEASE;
-
         }
     }
+
+    public static String getSocketPort() {
+        return PORT;
+    }
 }
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
index c8851ee786..12e1ac9ae8 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
@@ -30,7 +30,7 @@ public class WebSocketDnsManager {
         ThreadPoolService.execute(() -> mogoHttpDns.getHttpDnsIp(WebSocketConstant.getSocketServer(), true, ip -> {
             Logger.d(TAG, "getHttpDnsIp ip : " + ip + " , 得到Dns IP,准备回调 初始化webSocket");
             this.cacheIp = ip;
-            this.webSocketDns.getDnsIp(cacheIp != null ? cacheIp : WebSocketConstant.getSocketServer());
+            this.webSocketDns.getDnsIp((cacheIp != null ? cacheIp : WebSocketConstant.getSocketServer() + WebSocketConstant.getSocketPort()));
         }));
         mogoHttpDns.addHttpDnsTtlCallback(WebSocketConstant.getSocketServer(), () -> {
             Logger.d(TAG, "ttl callBack ,ready to getCache Dns IP");
@@ -40,15 +40,15 @@ public class WebSocketDnsManager {
             }
             Logger.d(TAG, "获取缓存Dns IP : " + dnsCacheIp + " , 原缓存 IP ： " + cacheIp);
             if (cacheIp != null && !cacheIp.equals(dnsCacheIp)) {
-                this.webSocketDns.ttlIp(dnsCacheIp);
+                this.webSocketDns.ttlIp(dnsCacheIp + WebSocketConstant.getSocketPort());
             }
         });
     }
 
     public interface WebSocketDns {
 
-        void getDnsIp(String ip);
+        void getDnsIp(String url);
 
-        void ttlIp(String ip);
+        void ttlIp(String url);
     }
 }
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
index 1e9fe4263b..a8a925f2ca 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
@@ -70,18 +70,18 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
     public void init(Context context, String appId) {
         WebSocketDnsManager.getInstance().getHttpDnsIp(new WebSocketDnsManager.WebSocketDns() {
             @Override
-            public void getDnsIp(String ip) {
-                Logger.d(TAG,"getDnsIp ip : " + ip);
-                initWebSocket(ip);
+            public void getDnsIp(String url) {
+                Logger.d(TAG,"getDnsIp url : " + url);
+                initWebSocket(url);
             }
 
             @Override
-            public void ttlIp(String ip) {
-                Logger.d(TAG,"ttlIp ip : " + ip);
+            public void ttlIp(String url) {
+                Logger.d(TAG,"ttlIp url : " + url);
                 SocketClient.getInstance().getClientProxy().stop();
                 SocketClient.getInstance().getClientProxy().disConnect();
-                Logger.d(TAG,"ready to re initWebSocket : " + ip);
-                initWebSocket(ip);
+                Logger.d(TAG,"ready to re initWebSocket : " + url);
+                initWebSocket(url);
             }
         });
     }

From 082982d8ea518a5fefe0f3bef96909fb692c8802 Mon Sep 17 00:00:00 2001
From: unknown <zhongchao@zdauto.com>
Date: Wed, 25 Nov 2020 13:18:17 +0800
Subject: [PATCH 2/7] changed the websocket port

---
 .../main/java/com/mogo/base/websocket/WebSocketConstant.java   | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
index 78687e6637..9fc42f1ddf 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
@@ -9,7 +9,8 @@ public class WebSocketConstant {
     private static final String HOST_QA = "ws://62.234.196.121";
     private static final String HOST_DEMO = "ws://62.234.196.121";
     private static final String HOST_RELEASE = "ws://62.234.196.121";
-    private static final String PORT = ":14001/ws";
+//    private static final String PORT = ":14001/ws";
+    private static final String PORT = ":4003/ws";
 
     public static String getSocketServer() {
         switch (DebugConfig.getNetMode()) {

From 431f5f3ca9682dca75b3949d5da4f5cc542fadc6 Mon Sep 17 00:00:00 2001
From: unknown <zhongchao@zdauto.com>
Date: Wed, 25 Nov 2020 15:25:22 +0800
Subject: [PATCH 3/7] update websocket to add log

---
 foudations/mogo-base-websocket-sdk/build.gradle | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/foudations/mogo-base-websocket-sdk/build.gradle b/foudations/mogo-base-websocket-sdk/build.gradle
index bc4cc643de..30bfc4afea 100644
--- a/foudations/mogo-base-websocket-sdk/build.gradle
+++ b/foudations/mogo-base-websocket-sdk/build.gradle
@@ -30,7 +30,7 @@ dependencies {
     implementation fileTree(dir: "libs", include: ["*.jar"])
     implementation rootProject.ext.dependencies.arouter
 
-    implementation "com.mogo.module.carchatting:module-carchatt-socket:1.1.1"
+    implementation "com.mogo.module.carchatting:module-carchatt-socket:1.1.2"
 
     if (Boolean.valueOf(RELEASE)) {
         implementation rootProject.ext.dependencies.mogoutils

From 87498bf5ff301424e48c2527070d41c23da4c48b Mon Sep 17 00:00:00 2001
From: tongchenfei <tongchenfei@zhidaoauto.com>
Date: Wed, 25 Nov 2020 17:44:33 +0800
Subject: [PATCH 4/7] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=B8=8A=E6=8A=A5?=
 =?UTF-8?q?=E9=A2=91=E7=8E=87=E8=AE=BE=E7=BD=AE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .idea/gradle.xml                              |  1 +
 .idea/misc.xml                                |  2 +-
 .../extensions/entrance/EntranceFragment.java | 39 +++++++++++++++++--
 .../res/layout/module_ext_layout_entrance.xml | 31 +++++++++++++++
 .../service/location/MogoRTKLocation.java     | 20 +++++++++-
 5 files changed, 88 insertions(+), 5 deletions(-)

diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index a973a8c831..08a4035b99 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -88,6 +88,7 @@
           </set>
         </option>
         <option name="resolveModulePerSourceSet" value="false" />
+        <option name="useQualifiedModuleNames" value="true" />
       </GradleProjectSettings>
     </option>
   </component>
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 2db9aab721..3b62eef43d 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -4,7 +4,7 @@
     <asm skipDebug="false" skipFrames="false" skipCode="false" expandFrames="false" />
     <groovy codeStyle="LEGACY" />
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" project-jdk-name="JDK" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" project-jdk-name="JDK" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
   <component name="SuppressionsComponent">
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
index 1d9dc7439e..4931a6515f 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
@@ -17,6 +17,7 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.ConstraintLayout;
 import androidx.constraintlayout.widget.ConstraintSet;
+import androidx.constraintlayout.widget.Group;
 
 import com.alibaba.android.arouter.launcher.ARouter;
 import com.bumptech.glide.request.RequestOptions;
@@ -257,7 +258,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
                 }
             }
         } );
-
+        mUserHeadImg = findViewById(R.id.ivUserHeadImg);
         if (DebugConfig.isDebug()) {
             mMove2CurrentLocation.setOnLongClickListener(view -> {
                 mApis.getSearchManagerApi().goSettings();
@@ -268,8 +269,19 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
                 mApis.getMogoMonitorApi().showLogDebugDialog();
                 return true;
             });
+
+            mUserHeadImg.setOnLongClickListener(view ->{
+                if (groupFix.getVisibility() == View.VISIBLE) {
+                    groupFix.setVisibility(View.GONE);
+                }else{
+                    groupFix.setVisibility(View.VISIBLE);
+                }
+                return true;
+            });
         }
 
+        groupFix = findViewById(R.id.groupFix);
+
         ConstraintLayout rootView = findViewById(R.id.module_entrance_id_top_motion_layout);
         if (rootView != null) {
             TopViewAnimHelper.getInstance().init(rootView);
@@ -347,8 +359,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
         mWeatherIcon = findViewById(R.id.module_ext_id_weather_icon);
         mWeatherTemp = findViewById(R.id.module_ext_id_weather_temp);
 
-        mUserHeadImg = findViewById(R.id.ivUserHeadImg);
-
         mMsgContainer = findViewById(R.id.module_ext_id_msg);
 
         mMsgContainer.setOnClickListener( new OnPreventFastClickListener() {
@@ -419,8 +429,30 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
         if (mStatusManager.isVrMode()) {
             enterVrMode();
         }
+        etTimes = findViewById(R.id.etTimes);
+        findViewById(R.id.btnFix).setOnClickListener((view)->{
+            try {
+                String times = etTimes.getText().toString().trim();
+                int fixTime = Integer.parseInt(times);
+                Logger.d(TAG, "修改上报时间间隔： " + times + "  fixTime: " + fixTime);
+                if(fixTime > 0) {
+                    Intent intent = new Intent("com.mogo.launcher.action.FIX_UPLOAT_DELAY");
+                    intent.putExtra("fixTime", fixTime);
+                    getContext().sendBroadcast(intent);
+                    TipToast.tip("已经发送修改广播");
+                }else{
+                    TipToast.tip("fixTime为0，不发送广播");
+                }
+            } catch (Exception e) {
+                TipToast.tip("fixTime异常");
+                e.printStackTrace();
+            }
+        });
     }
 
+    private EditText etTimes;
+    private Group groupFix;
+
     private void enterVrMode(){
         tvEnterVrMode.setVisibility(View.GONE);
         mMove2CurrentLocation.setVisibility(View.GONE);
@@ -444,6 +476,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
         tvExitVrMode.setVisibility(View.GONE);
 
         adasNoticeHelper.exitVrMode();
+
     }
 
     private void debugCrashWarn(){
diff --git a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
index 17c96a7a88..f7ebb8e010 100644
--- a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
+++ b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
@@ -353,4 +353,35 @@
         layout="@layout/module_ext_layout_crash_threshold_set"
         android:visibility="gone" />
 
+    <EditText
+        android:layout_width="400px"
+        android:layout_height="wrap_content"
+        android:id="@+id/etTimes"
+        android:textSize="40sp"
+        android:background="#fff"
+        android:textColor="#000"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent" />
+
+    <Button
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:id="@+id/btnFix"
+        android:text="修改"
+        android:textSize="40sp"
+        app:layout_constraintLeft_toRightOf="@id/etTimes"
+        app:layout_constraintTop_toTopOf="@id/etTimes"
+        android:layout_marginStart="10px"
+        android:background="#fff"
+        android:textColor="#000" />
+
+    <androidx.constraintlayout.widget.Group
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:id="@+id/groupFix"
+        android:visibility="gone"
+        app:constraint_referenced_ids="etTimes,btnFix" />
+
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
index b1676ccc7c..16be8c3d3f 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
@@ -1,6 +1,9 @@
 package com.mogo.module.service.location;
 
+import android.content.BroadcastReceiver;
 import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
 import android.location.Criteria;
 import android.location.Location;
 import android.location.LocationListener;
@@ -43,7 +46,7 @@ public class MogoRTKLocation {
                 super.handleMessage(msg);
                 if (msg.what == MSG_DATA_CHANGED) {
                     sendLocationData();
-                    mHandler.sendEmptyMessageDelayed(MSG_DATA_CHANGED, MSG_DATA_INTERNAL);
+                    mHandler.sendEmptyMessageDelayed(MSG_DATA_CHANGED, uploadDelay);
                 }
             }
         };
@@ -89,6 +92,10 @@ public class MogoRTKLocation {
         } else {
             Logger.d(TAG, "RTK LocationManager Provider GPS_PROVIDER unable");
         }
+        
+        // 注册修改上报间隔的广播, 临时使用，后面可直接干掉，发送广播的地方在EntranceFragment
+        IntentFilter filter = new IntentFilter("com.mogo.launcher.action.FIX_UPLOAT_DELAY");
+        AbsMogoApplication.getApp().registerReceiver(fixUploadDelayReceiver, filter);
     }
 
     private Criteria getCriteria() {
@@ -142,4 +149,15 @@ public class MogoRTKLocation {
             Logger.d(TAG, "stop failed , reason : loc" + locationManager + " , or loc listener: " + locationListener + " is null");
         }
     }
+
+    private long uploadDelay = MSG_DATA_INTERNAL;
+
+    private FixUploadDelayReceiver fixUploadDelayReceiver = new FixUploadDelayReceiver();
+
+    private class FixUploadDelayReceiver extends BroadcastReceiver{
+        @Override
+        public void onReceive(Context context, Intent intent) {
+            uploadDelay = intent.getIntExtra("fixTime", 0);
+        }
+    }
 }

From 5b8957e7cedf8f5071771767a4084809214d9b2a Mon Sep 17 00:00:00 2001
From: tongchenfei <tongchenfei@zhidaoauto.com>
Date: Thu, 26 Nov 2020 16:35:13 +0800
Subject: [PATCH 5/7] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=B8=8E=E6=9C=8D?=
 =?UTF-8?q?=E5=8A=A1=E7=AB=AF=E6=97=B6=E9=97=B4=E6=88=B3=E4=B8=8D=E4=B8=80?=
 =?UTF-8?q?=E8=87=B4=E7=9A=84=E5=AE=B9=E9=94=99=E6=9C=BA=E5=88=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../mogo/base/websocket/WebSocketData.java    | 10 ++++++
 .../mogo/base/websocket/WebSocketManager.java | 36 ++++++++++++++++---
 2 files changed, 42 insertions(+), 4 deletions(-)

diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketData.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketData.java
index 098b700382..3a213991ea 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketData.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketData.java
@@ -12,6 +12,8 @@ public class WebSocketData implements Serializable {
 
     private String data;
 
+    private long utcTime;
+
     public long getSeq() {
         return seq;
     }
@@ -43,4 +45,12 @@ public class WebSocketData implements Serializable {
     public void setData(String data) {
         this.data = data;
     }
+
+    public long getUtcTime() {
+        return utcTime;
+    }
+
+    public void setUtcTime(long utcTime) {
+        this.utcTime = utcTime;
+    }
 }
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
index a8a925f2ca..29e6bf9507 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
@@ -1,6 +1,7 @@
 package com.mogo.base.websocket;
 
 import android.content.Context;
+import android.os.SystemClock;
 
 import androidx.annotation.Keep;
 
@@ -133,12 +134,13 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
         Logger.d(TAG, "websocket sendMsg body = " + body);
         if (handlerThread != null) {
             WebSocketData webSocketData = new WebSocketData();
-            webSocketData.setSeq(System.currentTimeMillis());
+            webSocketData.setSeq(computeSendMsgTime());
             webSocketData.setMsgType(listener.getUpLinkType().getMsgType());
             webSocketData.setSn(Utils.getSn());
-            webSocketData.setData(new Gson().toJson(body));
-            Logger.d(TAG,"sendMsg : " + new Gson().toJson(webSocketData));
-            handlerThread.sendMsg(new Gson().toJson(webSocketData));
+            webSocketData.setData(GsonUtil.jsonFromObject(body));
+            String msg = GsonUtil.jsonFromObject(webSocketData);
+            Logger.d(TAG,"sendMsg : " + msg);
+            handlerThread.sendMsg(msg);
         }
     }
 
@@ -152,12 +154,38 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
         Logger.d(TAG, "websocket onConnectOpen");
     }
 
+    private long serverTime = 0;
+    private long receiveMsgTime = 0;
+
+    /**
+     * 服务端会在ack数据中增加服务端的时间戳{@link #serverTime}, 收到消息时，记录收到消息的时间{@link #receiveMsgTime}，收消息的时间用{@link SystemClock#elapsedRealtime()}可以避免系统时间改变造成的影响
+     * 在发送数据时，使用serverTime+(elapseRealtime()-receiveMsgTime)计算发送数据时的时间戳，这个时间戳是基本相对服务端的时间戳为基准的时间，忽略了ack下发时的时间延迟
+     *
+     * 如果{@link #serverTime}或{@link #receiveMsgTime}数据有异常，则使用{@link System#currentTimeMillis()}当做当前时间，作为容错
+     *
+     * @return 基本相对服务端的时间戳为基准的时间
+     */
+    private long computeSendMsgTime(){
+        long sendMsgTime = 0;
+        if (serverTime > 0 && receiveMsgTime > 0) {
+            sendMsgTime = serverTime + (SystemClock.elapsedRealtime() - receiveMsgTime);
+        }else{
+            sendMsgTime = System.currentTimeMillis();
+        }
+        return sendMsgTime;
+    }
+
     @Override
     public void handleMessage(String message) {
         Logger.d(TAG, "websocket received msg = " + message);
         WebSocketData webSocketData = GsonUtil.objectFromJson(message, WebSocketData.class);
         int msgType = webSocketData.getMsgType();
         Logger.d(TAG, "websocket received msg type = " + msgType);
+        if (webSocketData.getUtcTime() > 0) {
+            serverTime = webSocketData.getUtcTime();
+            receiveMsgTime = SystemClock.elapsedRealtime();
+            Logger.d(TAG, "设置serverTime");
+        }
         //服务端下发数据返回，上传数据回执默认不返回
         if (msgType == MSG_TYPE_DOWNLINK_CAR_DATA.getMsgType()) {
             List<IMogoOnWebSocketMessageListener> listeners = mListeners.get(msgType);

From 2eaf96533dc76cdfb422974c56ff5e11a4d0a386 Mon Sep 17 00:00:00 2001
From: tongchenfei <tongchenfei@zhidaoauto.com>
Date: Mon, 30 Nov 2020 09:57:44 +0800
Subject: [PATCH 6/7] =?UTF-8?q?=E8=B0=83=E8=AF=95httpDns=EF=BC=8C=E4=BF=AE?=
 =?UTF-8?q?=E6=94=B9=E4=B8=8A=E6=8A=A5=E6=97=B6=E9=97=B4=E9=97=B4=E9=9A=94?=
 =?UTF-8?q?=E4=B8=BA500ms?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../base/websocket/WebSocketConstant.java     | 27 ++++++++++++++++---
 .../base/websocket/WebSocketDnsManager.java   | 12 +++++----
 .../mogo/base/websocket/WebSocketManager.java | 13 +++++----
 .../service/location/MogoRTKLocation.java     |  2 +-
 .../service/connection/WebSocketMsgType.java  |  3 ++-
 5 files changed, 42 insertions(+), 15 deletions(-)

diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
index 9fc42f1ddf..a34166a694 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
@@ -10,7 +10,13 @@ public class WebSocketConstant {
     private static final String HOST_DEMO = "ws://62.234.196.121";
     private static final String HOST_RELEASE = "ws://62.234.196.121";
 //    private static final String PORT = ":14001/ws";
-    private static final String PORT = ":4003/ws";
+    public static final String PORT = ":4003/ws";
+    public static final String PROTOCOL = "ws://";
+
+    private static final String DOMAIN_DEV = "dzt-city.zhidaozhixing.com";
+    private static final String DOMAIN_QA = "dzt-city.zhidaozhixing.com";
+    private static final String DOMAIN_DEMO = "dzt-city.zhidaozhixing.com";
+    private static final String DOMAIN_RELEASE = "dzt-city.zhidaozhixing.com";
 
     public static String getSocketServer() {
         switch (DebugConfig.getNetMode()) {
@@ -26,7 +32,22 @@ public class WebSocketConstant {
         }
     }
 
-    public static String getSocketPort() {
-        return PORT;
+    public static String getDomain(){
+        switch (DebugConfig.getNetMode()) {
+            case DebugConfig.NET_MODE_DEV:
+                return DOMAIN_DEV;
+            case DebugConfig.NET_MODE_QA:
+                return DOMAIN_QA;
+            case DebugConfig.NET_MODE_DEMO:
+                return DOMAIN_DEMO;
+            case DebugConfig.NET_MODE_RELEASE:
+            default:
+                return DOMAIN_RELEASE;
+        }
     }
+
+//    public static String getSocketPort() {
+//        return PORT;
+//    }
+
 }
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
index 12e1ac9ae8..52b33f2d5c 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
@@ -27,20 +27,22 @@ public class WebSocketDnsManager {
     public void getHttpDnsIp(WebSocketDns webSocketDns) {
         this.webSocketDns = webSocketDns;
         IMogoHttpDns mogoHttpDns = ARouter.getInstance().navigation(IMogoHttpDns.class);
-        ThreadPoolService.execute(() -> mogoHttpDns.getHttpDnsIp(WebSocketConstant.getSocketServer(), true, ip -> {
+        ThreadPoolService.execute(() -> mogoHttpDns.getHttpDnsIp(WebSocketConstant.getDomain(), false, ip -> {
             Logger.d(TAG, "getHttpDnsIp ip : " + ip + " , 得到Dns IP,准备回调 初始化webSocket");
             this.cacheIp = ip;
-            this.webSocketDns.getDnsIp((cacheIp != null ? cacheIp : WebSocketConstant.getSocketServer() + WebSocketConstant.getSocketPort()));
+            this.webSocketDns.getDnsIp((cacheIp != null ?
+                    WebSocketConstant.PROTOCOL + ip + WebSocketConstant.PORT :
+                    WebSocketConstant.getSocketServer() + WebSocketConstant.PORT));
         }));
-        mogoHttpDns.addHttpDnsTtlCallback(WebSocketConstant.getSocketServer(), () -> {
+        mogoHttpDns.addHttpDnsTtlCallback(WebSocketConstant.getDomain(), () -> {
             Logger.d(TAG, "ttl callBack ,ready to getCache Dns IP");
-            String dnsCacheIp = mogoHttpDns.getCachedHttpDnsIps(WebSocketConstant.getSocketServer());
+            String dnsCacheIp = mogoHttpDns.getCachedHttpDnsIps(WebSocketConstant.getDomain());
             if (dnsCacheIp == null) {
                 return;
             }
             Logger.d(TAG, "获取缓存Dns IP : " + dnsCacheIp + " , 原缓存 IP ： " + cacheIp);
             if (cacheIp != null && !cacheIp.equals(dnsCacheIp)) {
-                this.webSocketDns.ttlIp(dnsCacheIp + WebSocketConstant.getSocketPort());
+                this.webSocketDns.ttlIp(dnsCacheIp + WebSocketConstant.PORT);
             }
         });
     }
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
index 29e6bf9507..d0c73c3d4a 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
@@ -23,6 +23,7 @@ import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 
+import static com.mogo.service.connection.WebSocketMsgType.MSG_TYPE_ACK;
 import static com.mogo.service.connection.WebSocketMsgType.MSG_TYPE_DOWNLINK_CAR_DATA;
 
 @Keep
@@ -181,11 +182,7 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
         WebSocketData webSocketData = GsonUtil.objectFromJson(message, WebSocketData.class);
         int msgType = webSocketData.getMsgType();
         Logger.d(TAG, "websocket received msg type = " + msgType);
-        if (webSocketData.getUtcTime() > 0) {
-            serverTime = webSocketData.getUtcTime();
-            receiveMsgTime = SystemClock.elapsedRealtime();
-            Logger.d(TAG, "设置serverTime");
-        }
+
         //服务端下发数据返回，上传数据回执默认不返回
         if (msgType == MSG_TYPE_DOWNLINK_CAR_DATA.getMsgType()) {
             List<IMogoOnWebSocketMessageListener> listeners = mListeners.get(msgType);
@@ -200,6 +197,12 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
                     }
                 }
             }
+        } else if (msgType == MSG_TYPE_ACK.getMsgType()) {
+            if (webSocketData.getUtcTime() > 0) {
+                serverTime = webSocketData.getUtcTime();
+                receiveMsgTime = SystemClock.elapsedRealtime();
+                Logger.d(TAG, "设置serverTime");
+            }
         }
     }
 
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
index 16be8c3d3f..703719a825 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
@@ -24,7 +24,7 @@ public class MogoRTKLocation {
 
     private static final String TAG = "MogoRTKLocation";
     private static final int MSG_DATA_CHANGED = 0x100;
-    private static final long MSG_DATA_INTERNAL = 1 * 1_000L;
+    private static final long MSG_DATA_INTERNAL = 500L;
 
     private Handler mHandler;
     private LocationManager locationManager;
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/connection/WebSocketMsgType.java b/services/mogo-service-api/src/main/java/com/mogo/service/connection/WebSocketMsgType.java
index b0a113d31d..27635e97e7 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/connection/WebSocketMsgType.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/connection/WebSocketMsgType.java
@@ -3,7 +3,8 @@ package com.mogo.service.connection;
 public enum WebSocketMsgType {
 
     MSG_TYPE_UPLINK_CAR_DATA(0,"自车与ADAS数据"),
-    MSG_TYPE_DOWNLINK_CAR_DATA(1,"服务端下发车辆信息");
+    MSG_TYPE_DOWNLINK_CAR_DATA(1,"服务端下发车辆信息"),
+    MSG_TYPE_ACK(3, "ACK");
 
     private int msgType;
     private String msg;

From 0dc442100b1a4d26858cdd94f4c63946d17949f1 Mon Sep 17 00:00:00 2001
From: tongchenfei <tongchenfei@zhidaoauto.com>
Date: Tue, 1 Dec 2020 14:50:04 +0800
Subject: [PATCH 7/7] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E7=BB=8F=E7=BA=AC?=
 =?UTF-8?q?=E5=BA=A6=E7=BA=A0=E5=81=8F=E9=80=BB=E8=BE=91=EF=BC=8C=E4=BD=86?=
 =?UTF-8?q?=E6=98=AF=E4=BB=85=E7=AE=80=E5=8D=95=E7=94=84=E5=88=AB=E9=97=AE?=
 =?UTF-8?q?=E9=A2=98=E7=82=B9=EF=BC=8C=E6=97=A0=E6=B3=95=E7=BA=A0=E6=AD=A3?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../common/entity/CloudLocationInfo.java      |  37 ++++-
 .../com/mogo/module/service/MogoServices.java |  33 +++--
 .../service/location/MogoRTKLocation.java     |   3 +-
 .../service/utils/LocationParseUtil.java      |  40 ++++++
 .../utils/SimpleLocationCorrectStrategy.java  | 135 ++++++++++++++++++
 5 files changed, 233 insertions(+), 15 deletions(-)
 create mode 100644 modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java
 create mode 100644 modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java

diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
index e6ea7dcfdd..02f0b43109 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
@@ -3,6 +3,8 @@ package com.mogo.module.common.entity;
 import android.os.Parcel;
 import android.os.Parcelable;
 
+import java.util.Objects;
+
 /**
  * 云端定位信息和自车定位信息
  *
@@ -17,7 +19,17 @@ public class CloudLocationInfo implements Parcelable {
     private double alt;
     private double speed;
 
-    public CloudLocationInfo(){
+    public CloudLocationInfo() {
+    }
+
+    public CloudLocationInfo(CloudLocationInfo info) {
+        this.lat = info.getLat();
+        this.lon = info.getLon();
+        this.heading = info.getHeading();
+        this.systemTime = System.currentTimeMillis();
+        this.satelliteTime = System.currentTimeMillis();
+        this.alt = info.alt;
+        this.speed = info.speed;
     }
 
     protected CloudLocationInfo(Parcel in) {
@@ -126,4 +138,27 @@ public class CloudLocationInfo implements Parcelable {
                 ", speed=" + speed +
                 '}';
     }
+
+    public String print() {
+        return "CloudLocation{ lon: " + lon + " lat: " + lat + " heading: " + heading + " speed: "
+                + speed+"}";
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) {
+            return true;
+        }
+        if (o == null || getClass() != o.getClass()) {
+            return false;
+        }
+        CloudLocationInfo that = (CloudLocationInfo) o;
+        return Double.compare(that.lat, lat) == 0 &&
+                Double.compare(that.lon, lon) == 0;
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(lat, lon);
+    }
 }
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
index 3235cd0916..69a9d792ff 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
@@ -55,6 +55,8 @@ import com.mogo.module.service.refresh.AutoRefreshStrategy;
 import com.mogo.module.service.refresh.CustomRefreshStrategy;
 import com.mogo.module.service.refresh.RefreshObject;
 import com.mogo.module.service.strategy.CarIconDisplayStrategy;
+import com.mogo.module.service.utils.LocationParseUtil;
+import com.mogo.module.service.utils.SimpleLocationCorrectStrategy;
 import com.mogo.module.service.vrmode.VrModeController;
 import com.mogo.module.service.websocket.LocationResult;
 import com.mogo.module.service.websocket.OnePerSecondSendContent;
@@ -465,22 +467,29 @@ public class MogoServices implements IMogoMapListener,
     }
 
     private void startSendCarLocationAndAdasRecognizedResult2Server(List<CloudLocationInfo> cloudLocationInfo) {
-        Location lastCarLocation = mLastCarLocation;
+//        Location lastCarLocation = mLastCarLocation;
+        CloudLocationInfo lastInfo = LocationParseUtil.locationToCloudLocation(mLastCarLocation);
+        // 如果数组内容不为空，就用数组最后一个值
+        if (cloudLocationInfo != null && !cloudLocationInfo.isEmpty()) {
+            lastInfo = cloudLocationInfo.get(cloudLocationInfo.size() - 1);
+        }
         LocationResult locationResult = null;
-        if ( lastCarLocation != null ) {
+        if ( lastInfo != null ) {
+            // 定位点预测纠偏
+            lastInfo = SimpleLocationCorrectStrategy.getInstance().correct(lastInfo);
+            if (lastInfo == null) {
+                return;
+            }
             locationResult = new LocationResult();
-            locationResult.lastCoordinate = new CloudLocationInfo();
-            locationResult.lastCoordinate.setAlt( lastCarLocation.getAltitude() );
-            locationResult.lastCoordinate.setHeading( lastCarLocation.getBearing() );
-            locationResult.lastCoordinate.setLat( lastCarLocation.getLatitude() );
-            locationResult.lastCoordinate.setLon( lastCarLocation.getLongitude() );
-            locationResult.lastCoordinate.setSatelliteTime( lastCarLocation.getTime() );
-            locationResult.lastCoordinate.setSystemTime( System.currentTimeMillis() );
-            locationResult.lastCoordinate.setSpeed( lastCarLocation.getSpeed() );
+            locationResult.lastCoordinate = lastInfo;
             locationResult.coordinates = new ArrayList<>();
             locationResult.sn = com.mogo.commons.network.Utils.getSn();
-            locationResult.mortonCode = MortonCode.wrapEncodeMorton( locationResult.lastCoordinate.getLon(), locationResult.lastCoordinate.getLat() );
-            locationResult.coordinates.addAll( cloudLocationInfo );
+            locationResult.mortonCode = MortonCode.wrapEncodeMorton( lastInfo.getLon(), lastInfo.getLat() );
+            if(cloudLocationInfo == null){
+                locationResult.coordinates.addAll(new ArrayList<>());
+            }else {
+                locationResult.coordinates.addAll(cloudLocationInfo);
+            }
         }
         List< ADASRecognizedResult > recognizedResults = MarkerServiceHandler.getADASController().getLastADASRecognizedResult();
         OnePerSecondSendContent content = new OnePerSecondSendContent();
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
index 703719a825..bf97d9629c 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
@@ -60,8 +60,7 @@ public class MogoRTKLocation {
     private void sendLocationData() {
         if (rtkLocationListener != null) {
             Logger.d(TAG, "sendLocationData size : " + cacheList.size());
-            List list = new ArrayList();
-            list.addAll(cacheList);
+            List<CloudLocationInfo> list = new ArrayList<>(cacheList);
             rtkLocationListener.onLocationChanged(list);
         }
         if (cacheList != null && cacheList.size() > 0) {
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java
new file mode 100644
index 0000000000..17a20c8115
--- /dev/null
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java
@@ -0,0 +1,40 @@
+package com.mogo.module.service.utils;
+
+import android.location.Location;
+
+import com.mogo.map.MogoLatLng;
+import com.mogo.module.common.entity.CloudLocationInfo;
+
+/**
+ * 定位数据类型转换工具
+ *
+ * @author tongchenfei
+ */
+public class LocationParseUtil {
+    /**
+     * 从Location 转 CloudLocationInfo
+     * @param info 待转数据
+     * @return 转后数据
+     */
+    public static CloudLocationInfo locationToCloudLocation(Location info) {
+        if (info == null) {
+            return null;
+        }
+        CloudLocationInfo cloud = new CloudLocationInfo();
+        cloud.setLat(info.getLatitude());
+        cloud.setLon(info.getLongitude());
+        cloud.setAlt(info.getAltitude());
+        cloud.setHeading(info.getBearing());
+        cloud.setSpeed(info.getSpeed());
+        cloud.setSatelliteTime(info.getTime());
+        cloud.setSystemTime(System.currentTimeMillis());
+        return cloud;
+    }
+
+    public static MogoLatLng cloudLocationToMogoLatLng(CloudLocationInfo info) {
+        if (info == null) {
+            return null;
+        }
+        return new MogoLatLng(info.getLat(), info.getLon());
+    }
+}
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java
new file mode 100644
index 0000000000..cb2cf47455
--- /dev/null
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java
@@ -0,0 +1,135 @@
+package com.mogo.module.service.utils;
+
+import android.location.Location;
+import android.os.SystemClock;
+
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.entity.CloudLocationInfo;
+import com.mogo.utils.logger.Logger;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 定位预测纠错策略
+ *
+ * @author tongchenfei
+ */
+public class SimpleLocationCorrectStrategy {
+    private static final String TAG = "SimpleLocationCorrectStrategy";
+    private static final int ERR_COUNT_THRESHOLD = 3;
+    /**
+     * 目标距离误差是10米，就是在原目标距离基础上增加10米
+     */
+    private static final float TARGET_DISTANCE_DEVIATION = 10;
+
+    private CloudLocationInfo lastLocation = null;
+    private long anchorTime;
+    private int errCount;
+
+    private static SimpleLocationCorrectStrategy instance = new SimpleLocationCorrectStrategy();
+
+    public static SimpleLocationCorrectStrategy getInstance(){
+        return instance;
+    }
+
+    private List<CloudLocationInfo> tmpList = new ArrayList<>();
+
+    public CloudLocationInfo correct(CloudLocationInfo info) {
+        Logger.d(TAG, "info: " + info.print());
+        Logger.d("tmpList", "tmpList: " + tmpList);
+        if(isLocationValid(info)) {
+            tmpList.add(info);
+            if (lastLocation == null) {
+                lastLocation = info;
+                anchorTime = SystemClock.elapsedRealtime();
+                Logger.d(TAG, "第一条数据");
+                return info;
+            }
+            if (lastLocation.equals(info)) {
+                Logger.d(TAG, "相同坐标点==");
+                return info;
+            }
+            try {
+                float targetDistance =
+                        (float) (lastLocation.getSpeed() * (SystemClock.elapsedRealtime() - anchorTime) / 1000) + TARGET_DISTANCE_DEVIATION;
+                float distance = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().calculateLineDistance(LocationParseUtil.cloudLocationToMogoLatLng(lastLocation), LocationParseUtil.cloudLocationToMogoLatLng(info));
+                Logger.d(TAG,
+                        "准备计算{ lastInfo: " + lastLocation.print() + "  info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
+                if (distance <= targetDistance) {
+                    // 新的定位点在目标距离范围内，认为此数据有效
+                    lastLocation = info;
+                    anchorTime = SystemClock.elapsedRealtime();
+                    errCount = 0;
+                    Logger.d(TAG, "在范围内，为有效点");
+                    return info;
+                } else {
+                    // 出现异常点
+                    if (errCount >= ERR_COUNT_THRESHOLD) {
+                        // 出错次数超过阈值，认为本次出错点为正确点
+                        lastLocation = info;
+                        anchorTime = SystemClock.elapsedRealtime();
+                        errCount = 0;
+                        Logger.d(TAG, "出错次数超限，异常点变有效点");
+                        return info;
+                    } else {
+                        // 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
+//                        CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
+//                        nextInfo.setLon(targetDistance * Math.sin(lastLocation.getHeading() * Math.PI / 180));
+//                        nextInfo.setLat(targetDistance * Math.cos(lastLocation.getHeading() * Math.PI / 180));
+//                        lastLocation = nextInfo;
+                        anchorTime = SystemClock.elapsedRealtime();
+                        errCount++;
+                        Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
+                        return lastLocation;
+//                        return nextInfo;
+                    }
+                }
+            } catch (Exception e) {
+                Logger.e(TAG, e, "纠偏异常");
+                e.printStackTrace();
+            }
+        }else{
+            Logger.d(TAG, "定位点异常");
+            if (lastLocation == null) {
+                return null;
+            }else{
+                try {
+                    float targetDistance =
+                            (float) (lastLocation.getSpeed() * (SystemClock.elapsedRealtime() - anchorTime) / 1000) + TARGET_DISTANCE_DEVIATION;
+                    float distance = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().calculateLineDistance(LocationParseUtil.cloudLocationToMogoLatLng(lastLocation), LocationParseUtil.cloudLocationToMogoLatLng(info));
+                    Logger.d(TAG,
+                            "异常定位点\n准备计算{ lastInfo: " + lastLocation.print() + "  info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
+                    // 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
+//                    CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
+//                    nextInfo.setLon(targetDistance * Math.sin(lastLocation.getHeading()));
+//                    nextInfo.setLat(targetDistance * Math.cos(lastLocation.getHeading()));
+//                    lastLocation = nextInfo;
+                    anchorTime = SystemClock.elapsedRealtime();
+                    errCount++;
+                    Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
+//                    return nextInfo;
+                    return lastLocation;
+                }catch (Exception e){
+                    Logger.e(TAG, e, "纠偏异常");
+                    e.printStackTrace();
+                }
+            }
+        }
+        return null;
+    }
+
+    private boolean isLocationValid(CloudLocationInfo info) {
+        return info.getLat() != 0 && info.getLon() != 0;
+    }
+
+    private float getDistance(CloudLocationInfo lastInfo, CloudLocationInfo info) {
+        float[] results=new float[1];
+        try{
+            Location.distanceBetween(lastInfo.getLat(), lastInfo.getLon(), info.getLat(), info.getLon(), results);
+        }catch(Exception e){
+            e.printStackTrace();
+        }
+        return results[0]*1000;
+    }
+}