Merge branch 'test_MogoAP_eagle-1030_211020_8.0.14.2' into dev_MogoAP_eagle-1030_211020_8.0.14_for_newtts

2021-11-30 13:16:22 +08:00
parent 461e5fa0b0 7defc7e6f7
commit 98be08a6ef
24 changed files with 201 additions and 104 deletions
--- a/app/proguard-rules.pro
+++ b/app/proguard-rules.pro
@@ -424,7 +424,7 @@
 -keep class org.conscrypt.HandshakeListener{*;}
 -keep class org.conscrypt.BufferAllocator{*;}
 -keep class com.squareup.haha.guava.collect.*{*;}
-
+-keep class **.zego.**{*;}



--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/camera/CameraListView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/camera/CameraListView.kt
@@ -148,13 +148,18 @@ class CameraListView : FrameLayout {
                Logger.d(TAG, "onPlayEvent: event is:$event")
                when (event) {
                    SimpleVideoPlayer.PLAY_EVT_PLAY_LOADING -> {
-
+                        // 会出现临时中断后又可以继续播放，需要停掉倒计时
+                        if (valueAnimator.isStarted || valueAnimator.isRunning) {
+                            valueAnimator.cancel()
+                        }
                    }
                    SimpleVideoPlayer.PLAY_EVT_PLAY_BEGIN -> {
-                        clickListener?.onShowLive(true)
-                        progressBar.visibility = View.GONE
-                        svpPlayer.visibility = View.VISIBLE
-                        isPlaySuccess = true
+                        if (!isFirstPage && !isCarLive()) {
+                            clickListener?.onShowLive(true)
+                            progressBar.visibility = View.GONE
+                            svpPlayer.visibility = View.VISIBLE
+                            isPlaySuccess = true
+                        }
                    }
                    else -> {
                        Logger.w(TAG, "播放视频异常,event is:$event")
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/NoticeTrafficDialog.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/NoticeTrafficDialog.java
@@ -12,6 +12,7 @@ import androidx.lifecycle.LifecycleObserver;
 import androidx.recyclerview.widget.RecyclerView;
 import androidx.recyclerview.widget.StaggeredGridLayoutManager;

+import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo;
@@ -177,12 +178,14 @@ public class NoticeTrafficDialog extends BaseFloatDialog implements LifecycleObs
        AutopilotControlParameters parameters = new AutopilotControlParameters();
        parameters.isSpeakVoice = false;
        parameters.vehicleType = 10;
+        //云平台使用的是火星坐标,自动驾驶需要wgs84
+        double[] gcj02 = CoordinateUtils.transformGcj02toWgs84(mTrafficStyleInfo.getLat(),mTrafficStyleInfo.getLon());
        AutopilotControlParameters.AutoPilotLonLat startLocation = new AutopilotControlParameters.AutoPilotLonLat
                (MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(),
                        MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat());
        parameters.startLatLon = startLocation;
        AutopilotControlParameters.AutoPilotLonLat endLocation = new AutopilotControlParameters.AutoPilotLonLat
-                (mTrafficStyleInfo.getLon(), mTrafficStyleInfo.getLat());
+                (gcj02[0],gcj02[1]);
        parameters.endLatLon = endLocation;
        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
    }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
@@ -1,15 +1,18 @@
 package com.mogo.eagle.core.function.v2x.redlightwarning

+import android.location.Location
+import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.trafficlight.*
 import com.mogo.eagle.core.data.trafficlight.TrafficLightStatusHelper.getCurrentRoadTrafficLight
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.api.vip.IMoGoVipSetListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
 import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.vip.CallVipSetListenerManager
-import com.mogo.eagle.core.utilcode.util.SPUtils
+import com.mogo.eagle.core.function.v2x.vip.VipCarManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.map.navi.IMogoCarLocationChangedListener2
+import com.mogo.module.common.MogoApisHandler
 import com.mogo.module.common.enums.EventTypeEnum
 import com.mogo.utils.logger.Logger
 import kotlin.math.abs
@@ -17,14 +20,19 @@ import kotlin.math.ceil
 import kotlin.math.floor


-class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
+class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
+    IMogoCarLocationChangedListener2 {

    private var vip: Boolean = false
+
    // 是否第一次进入道路100m处
    private var isFirst = true
+
    // 是否已进入到路口(停止线处)
    private var isEnter = false

+    private var mLocation: Location? = null
+
    companion object {

        const val TAG = "RedLightWarningManager"
@@ -35,10 +43,11 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
    }

    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
+        // 到路口100m时回调
        Logger.d(TAG, "处理路口交通数据：是否是第一次处理：${isFirst}是否进入路口：${isEnter}")
        if (isFirst && !isEnter) {
            getCurrentRoadTrafficLight(trafficLightResult)?.let {
-                handleRedLightWarning(it, trafficLightResult.flashYellow)
+                handleRedLightWarning(it, trafficLightResult)
            }
            isFirst = false
        }
@@ -59,36 +68,57 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
    fun listenTrafficLight() {
        CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
        CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        MogoApisHandler.getInstance().apis.registerCenterApi.registerCarLocationChangedListener(
+            VipCarManager.TAG,
+            this
+        )
        CallVipSetListenerManager.registerVipSetListener(TAG, this)
    }

-    private fun handleRedLightWarning(trafficLightStatus: TrafficLightStatus, yellowLightTime: Int = 0) {
+    private fun handleRedLightWarning(
+        trafficLightStatus: TrafficLightStatus,
+        trafficLightResult: TrafficLightResult
+    ) {
        // 如果是Vip则不处理
        if (vip) {
            Logger.w(TAG, "Vip用户不处理闯红灯、绿灯通行预警逻辑！")
            return
        }
        // 路口100m闯红灯预警
-        CallerMapLocationListenerManager.getCurrentLocation()?.let {
+        mLocation?.let {
            // 单位m/s
            val speed = it.speed
            // 车停止或者速度非常慢，可能返回负数或者很小的值，需要过滤
+            Logger.d(TAG, "speed is:$speed")
            if (speed <= 2.5f) return// 小于等于9km/h不处理
-            val distance = 100
+            // 由于到路口100m时回调不准，手动计算直线距离
+            val distance = MogoApisHandler.getInstance().apis.mapServiceApi
+                .mapUIController.calculateLineDistance(
+                    MogoLatLng(it.latitude, it.longitude),
+                    MogoLatLng(trafficLightResult.lat, trafficLightResult.lon)
+                )
+            Logger.d(
+                TAG,
+                "路口经度为：${trafficLightResult.lon}，纬度为：${trafficLightResult.lat}；车的经度为：${it.longitude}，纬度为：${it.latitude}；两点距离为：${distance}"
+            )
            val remainTime = trafficLightStatus.remain
            val arriveTime = distance / speed
-            Logger.d(TAG, "speed is:$speed,remainTime is:$remainTime,arriveTime is:$arriveTime,yellowTime is:$yellowLightTime")
+            Logger.d(
+                TAG,
+                "speed is:$speed,remainTime is:$remainTime,arriveTime is:$arriveTime,yellowTime is:${trafficLightResult.flashYellow}"
+            )

            when {
                trafficLightStatus.isRed() -> {
                    Logger.d(TAG, "=====当前为红灯=====")
-                    // 到达路口时红灯还没走完
-                    if (arriveTime <= remainTime) {
+                    // 到达路口时红灯还没走完(由于多个数据有偏差，红灯预警延长1s，绿灯提示延长2s，多报出错不如少报且准)
+                    if (arriveTime <= remainTime + 1) {
                        redLightWarning()
-                    } else if (arriveTime > remainTime + yellowLightTime) {// 到达时红、黄灯都走完
+                    } else if (arriveTime > remainTime + trafficLightResult.flashYellow + 2) {// 到达时红、黄灯都走完
                        // 单位Km/h，当前为红灯，推荐速度越慢越容易绿灯通过，且要满足[10,50]
-                        val originRemainSpeed = floor(100 / (remainTime + yellowLightTime) * 3.6).toInt()
-                        when  {
+                        val originRemainSpeed =
+                            floor(distance / (remainTime + trafficLightResult.flashYellow) * 3.6).toInt()
+                        when {
                            originRemainSpeed > 50 -> greenLightWarning("10到50")
                            originRemainSpeed in 10..50 -> greenLightWarning("10到$originRemainSpeed")
                        }
@@ -96,13 +126,13 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
                }
                trafficLightStatus.isYellow() -> {
                    Logger.d(TAG, "=====当前为黄灯=====")
-                    // 到达路口时黄灯还没走完
-                    if (arriveTime <= remainTime) {
+                    // 到达路口时黄灯还没走完(由于多个数据有偏差，红灯预警延长1s，绿灯提示延长2s，多报出错不如少报且准)
+                    if (arriveTime <= remainTime + 1) {
                        redLightWarning()
-                    } else {
+                    } else if (arriveTime > remainTime + 2) {
                        // 单位Km/h，当前为黄灯，推荐速度越慢越容易绿灯通过，且要满足[10,50]
-                        val originRemainSpeed = floor(100 / remainTime * 3.6).toInt()
-                        when  {
+                        val originRemainSpeed = floor(distance / remainTime * 3.6).toInt()
+                        when {
                            originRemainSpeed > 50 -> greenLightWarning("10到50")
                            originRemainSpeed in 10..50 -> greenLightWarning("10到$originRemainSpeed")
                        }
@@ -110,17 +140,16 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
                }
                trafficLightStatus.isGreen() -> {
                    Logger.d(TAG, "=====当前为绿灯=====")
-                    // 到达路口时绿灯已经走完
-                    if (arriveTime >= remainTime) {
+                    // 到达路口时绿灯已经走完(由于多个数据有偏差，多报出错不如少报且准，绿灯时间减少一点)
+                    if (arriveTime >= remainTime - 1) {
                        redLightWarning()
-                    } else if (arriveTime < remainTime) {
+                    } else if (arriveTime < remainTime - 2) {
                        // 单位Km/h，当前为绿灯，推荐速度越快越容易绿灯通过，且要满足[10,50]
-                        val originRemainSpeed = ceil(100 / remainTime * 3.6).toInt()
-                        when  {
+                        val originRemainSpeed = ceil(distance / remainTime * 3.6).toInt()
+                        when {
                            originRemainSpeed < 10 -> greenLightWarning("10到50")
                            originRemainSpeed in 10..50 -> greenLightWarning("${originRemainSpeed}到50")
                        }
-                        greenLightWarning()
                    }
                }
            }
@@ -174,5 +203,19 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener {
    fun onDestroy() {
        CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
        CallVipSetListenerManager.unRegisterVipSetListener(TAG)
+        CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
+        MogoApisHandler.getInstance().apis.registerCenterApi.unregisterCarLocationChangedListener(
+            TAG, this
+        )
+    }
+
+    override fun onCarLocationChanged(latLng: MogoLatLng?) {
+
+    }
+
+    override fun onCarLocationChanged2(latLng: Location?) {
+        latLng?.let {
+            mLocation = it
+        }
    }
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarStatusListenerManager.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.call.autopilot

+import android.util.Log
 import androidx.annotation.Nullable
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener
@@ -17,7 +18,7 @@ object CallerAutopilotCarStatusListenerManager : CallerBase() {

    // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
    private val M_AUTOPILOT_STATUS_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotCarStateListener> =
-        ConcurrentHashMap()
+            ConcurrentHashMap()


    /**
@@ -26,8 +27,8 @@ object CallerAutopilotCarStatusListenerManager : CallerBase() {
     * @param listener 监听回调
     */
    fun addListener(
-        @Nullable tag: String,
-        @Nullable listener: IMoGoAutopilotCarStateListener
+            @Nullable tag: String,
+            @Nullable listener: IMoGoAutopilotCarStateListener
    ) {
        if (M_AUTOPILOT_STATUS_LISTENERS.containsKey(tag)) {
            LogUtils.eTag(TAG, "Tag:$tag already exists,please use other tag")
@@ -67,6 +68,7 @@ object CallerAutopilotCarStatusListenerManager : CallerBase() {
    @Synchronized
    fun invokeAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?) {
        //LogUtils.dTag(TAG, "$autoPilotCarStateInfo")
+        //Log.w("DHY-location", "${autoPilotCarStateInfo?.values?.lon},${autoPilotCarStateInfo?.values?.lat}                      CallerAutopilotCarStatusListenerManager-invokeAutopilotCarStateData")
        M_AUTOPILOT_STATUS_LISTENERS.forEach {
            val tag = it.key
            val listener = it.value
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.call.map

+import android.util.Log
 import androidx.annotation.Nullable
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
@@ -87,6 +88,7 @@ object CallerMapLocationListenerManager : CallerBase() {
     */
    fun invokeMapLocationChangeListener(location: MogoLocation?) {
        //LogUtils.dTag(TAG, "mapStyleMode:$location")
+        Log.w("DHY-location", "${location?.longitude},${location?.latitude}                      CallerMapLocationListenerManager-invokeMapLocationChangeListener")
        mLocation = location
        mMapStyleChangeListeners.forEach {
            val tag = it.key
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
@@ -29,6 +29,7 @@ import com.mogo.eagle.core.function.call.map.CallerLocationUpdaterManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapStyleListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
+import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.map.IMogoMap;
 import com.mogo.map.IMogoMapView;
 import com.mogo.map.impl.custom.navi.NaviClient;
@@ -750,6 +751,7 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void onLocationChanged(@NotNull com.zhidaoauto.map.sdk.open.location.MogoLocation location) {
+        Log.w("DHY-location", location.getLon() + "," + location.getLat() + "                       AMapViewWrapper-onLocationChanged：");
        MogoLocation mLastLocation = ObjectUtils.fromLocation(location);
        UiThreadHandler.post(() -> CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(mLastLocation));

@@ -788,7 +790,7 @@ public class AMapViewWrapper implements IMogoMapView,
            } else {
                mIsFirstLocated = true;
                mIsDelayed = false;
-                Logger.d(TAG, "同步定位");
+                Logger.d(TAG, "同步定位：" + GsonUtils.toJson(location));
                MapStyleController.getInstance().onLocationChanged(location, this);
            }
        }
@@ -797,8 +799,8 @@ public class AMapViewWrapper implements IMogoMapView,
            try {
                mSelfMarker = mMapView.getMapAutoViewHelper().getMyLocationStyle().getSelfMarker();
                mSelfMarker.setInfoWindowEnable(true);
-
            } catch (Exception e) {
+                e.printStackTrace();
            }
        } else {
 //          通过不同的方向类型来改变车模，目前暂定三种模型，drawlevel 1 绿,2 黄,3 红，绿色的时候需要把相应的切换为默认模型
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java
@@ -74,7 +74,7 @@ public class CustomMapApiBuilder implements IMogoMapApiBuilder {
        Log.d(TAG, "setDebugMode==true");

        MapParams mapParams = MapParams.Companion.init();
-        mapParams.setDebugMode(false)
+        mapParams.setDebugMode(true)
                //.setDataFileSource(1)  //todo 1-使用本地地图数据，0-使用在线地图数据
                .setCoordinateType(MapParams.COORDINATETYPE_GCJ02)
                .setPerspectiveMode(MapParams.MAP_PERSPECTIVE_2D)
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java
@@ -2,6 +2,7 @@ package com.mogo.map.impl.custom.location;

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

 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.map.impl.custom.utils.ObjectUtils;
@@ -113,6 +114,7 @@ public class ALocationClient implements IMogoLocationClient {

        @Override
        public void onLocationChanged( @NotNull com.zhidaoauto.map.sdk.open.location.MogoLocation location ) {
+            Log.w("DHY-location", location.getLon() + "," + location.getLat() + "                       ALocationClient-onLocationChanged");
            if ( mIsDestroyed ) {
                destroyWarming();
                return;
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
@@ -732,6 +732,7 @@ public class ObjectUtils {
            target.lonLatPoints( points );
        }
        target.setLineWidth( options.getWidth() );
+        target.zIndex(options.getZIndex());
        target.setColor( options.getColor() );
        target.useGradient( options.isGradient() );
        if ( options.getColorValues() != null ) {
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
@@ -2,7 +2,6 @@ package com.mogo.module.adas;

 import android.util.Log;

-import com.mogo.commons.AbsMogoApplication;
 import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
@@ -10,14 +9,12 @@ import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
-import com.mogo.eagle.core.data.constants.MoGoConfig;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.utils.logger.Logger;
-import com.mogo.utils.storage.SharedPrefsMgr;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.bean.AutopilotRoute;
@@ -45,7 +42,7 @@ import java.util.List;
 public class OnAdasListenerAdapter implements OnAdasListener {
    private final String TAG = "OnAdasListenerAdapter";

-    
+
    @Override
    public void onRectData(RectInfo rectInfo) {
        ArrayList<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
@@ -56,10 +53,10 @@ public class OnAdasListenerAdapter implements OnAdasListener {
    @Override
    public void onCarStateData(CarStateInfo carStateInfo) {
        Logger.d(TAG, "--------carStateInfo.toString() = " + carStateInfo.toString());
-        AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
-        CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
        //can数据转发
        CarStateInfo.ValuesBean bean = carStateInfo.getValues();
+        Log.w("DHY-location", bean.getLon() + "," + bean.getLat() + "                       OnAdasListenerAdapter-onCarStateData：");
+
        if (bean != null) {
            int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
            Logger.d(TAG, "onCarStateData ---- turn_light = " + turn_light);
@@ -67,6 +64,9 @@ public class OnAdasListenerAdapter implements OnAdasListener {
        } else {
            Logger.e(TAG, "bean == null ");
        }
+
+        AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
+        CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
    }

    @Override
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
@@ -44,7 +44,8 @@ object TrafficMarkerDrawer {
        object : Handler(WorkThreadHandler.newInstance("other_traffic_drawer").looper) {
            override fun handleMessage(msg: Message) {
                super.handleMessage(msg)
-                drawerTrafficInfo()
+                // TODO 因为与自动驾驶的感知重合，临时关掉OBU车辆绘制
+                // drawerTrafficInfo()
                // 延时50毫秒重复发送自己，定时轮询进行车辆绘制，可以及时将已经不存在车辆删除
                sendEmptyMessageDelayed(0, 50L)
            }
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
@@ -108,7 +108,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
                .object(markerShowEntity)
                .latitude(markerShowEntity.getMarkerLocation().getLat())
                .longitude(markerShowEntity.getMarkerLocation().getLon())
-                .setGps(false);
+                .setGps(true);
        IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options);
        options.icon3DRes(getModelRes(modeResType)); //TODO
        options.anchorColor("#FB3C3CFF");
@@ -124,7 +124,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
                .latitude(location.getLat())
                .longitude(location.getLon())
                .set3DMode(true)
-                .setGps(false)
+                .setGps(true)
                .controlAngle(true)
                .icon3DRes(getModelRes(type))
                .anchorColor("#FB3C3CFF")
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java
@@ -197,4 +197,16 @@ public class V2XMessageEntity<T> implements Serializable {
    @Retention(RetentionPolicy.SOURCE) //表示注解所存活的时间,在运行时,而不会存在 .class 文件中
    public @interface MessageType { //接口，定义新的注解类型
    }
+
+    @Override
+    public String toString() {
+        return "V2XMessageEntity{" +
+                "type=" + type +
+                ", showState=" + showState +
+                ", isNeedCompareSameScenario=" + isNeedCompareSameScenario +
+                ", onlyShow=" + onlyShow +
+                ", needAddLine=" + needAddLine +
+                ", content=" + content +
+                '}';
+    }
 }
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/TopViewNoLinkageAnimHelper.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/TopViewNoLinkageAnimHelper.java
@@ -150,16 +150,18 @@ public class TopViewNoLinkageAnimHelper {
    public void removeAllView() {
        Logger.d(TAG, "remove all view");
        isTopViewOut = true;
-        int lastCount = topContainerNoLinkage.getChildCount();
-        for (int i = 0; i < lastCount; i++) {
-            View child = topContainerNoLinkage.getChildAt(i);
-            IMogoTopViewStatusListener listener = statusListenerMap.remove(child);
-            if (listener != null) {
-                listener.beforeViewRemoveAnim(child);
-                listener.onViewRemoved(child);
+        if (topContainerNoLinkage != null) {
+            int lastCount = topContainerNoLinkage.getChildCount();
+            for (int i = 0; i < lastCount; i++) {
+                View child = topContainerNoLinkage.getChildAt(i);
+                IMogoTopViewStatusListener listener = statusListenerMap.remove(child);
+                if (listener != null) {
+                    listener.beforeViewRemoveAnim(child);
+                    listener.onViewRemoved(child);
+                }
            }
+            topContainerNoLinkage.removeAllViews();
        }
-        topContainerNoLinkage.removeAllViews();
        MapCenterPointStrategy.setMapCenterPointByScene(mogoMapUIController, Scene.AIMLESS);
    }

--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
@@ -30,6 +30,7 @@ public class RouteOverlayDrawer {

    private RouteOverlayDrawer(Context context) {
        mPolylineOptions = new MogoPolylineOptions();
+        mPolylineOptions.zIndex(20000f);
        // 绘制路径集合
        mPolylinePointList = new ArrayList<>();
        // 引导线颜色
@@ -130,7 +131,6 @@ public class RouteOverlayDrawer {
                mPolylinePointList.add(latLng);
            }
            mPolylineOptions.setGps(true);
-            mPolylineOptions.zIndex(10000f);
            mPolylineColors.addAll(ColorUtils.getGradientAlpha("#002965ED", "#FF2965ED", "#002965ED", mPolylinePointList.size()));
            // 替换路径集合
            mPolylineOptions.points(mPolylinePointList);
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java
@@ -16,6 +16,8 @@ import androidx.localbroadcastmanager.content.LocalBroadcastManager;
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.utilcode.util.TimeUtils;
 import com.mogo.eagle.core.utilcode.util.Utils;
 import com.mogo.map.listener.IMogoMapListener;
@@ -54,6 +56,8 @@ import com.mogo.utils.network.utils.GsonUtil;
 import com.mogo.utils.storage.SharedPrefsMgr;
 import com.tencent.liteav.basic.log.TXCLog;

+import org.jetbrains.annotations.Nullable;
+
 import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
 import static com.mogo.module.v2x.VideoInitKt.initVideo;

@@ -441,4 +445,9 @@ public class V2XModuleProvider implements
    public void onDestroy() {

    }
+
+//    @Override
+//    public void onLocationChanged(@Nullable MogoLocation location) {
+//        V2XScenarioManager.getInstance().handlerMessage(entity);
+//    }
 }
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java
@@ -36,7 +36,7 @@ public class MoGoPersonWarnPolylineManager implements IMoGoPersonWarnPolylineMan
            }

            // 连接线参数
-            MogoPolylineOptions options = new MogoPolylineOptions().setGps(false);
+            MogoPolylineOptions options = new MogoPolylineOptions().setGps(true);

            // 渐变色
            List<Integer> colors = new ArrayList<>();
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
@@ -37,7 +37,7 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {

            // 连接线参数
            MogoPolylineOptions options = new MogoPolylineOptions()
-                    .setGps(false);
+                    .setGps(true);
            List<Integer> colors = new ArrayList<>();

            if (info.isHasStopLines() == true) {
@@ -50,7 +50,7 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
                colors.add(0x0DE32F46);
            }

-            Log.d(V2XConst.LOG_NAME_WARN, "MoGoWarnPolylineManager  roadWidth = " + info.getWidth());
+            Log.d("V2XWarningMarker", "MoGoWarnPolylineManager  roadWidth = " + info.getWidth());
            // 线条粗细，渐变，渐变色值
            options.width(info.getWidth() == 0.0 ? 60 : info.getWidth()).useGradient(true).colorValues(colors);
            List<MogoLatLng> locations = info.getLocations();
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
@@ -59,7 +59,7 @@ public class V2XScenarioManager implements IV2XScenarioManager {

    @Override
    public void handlerMessage(V2XMessageEntity v2XMessageEntity) {
-        //Logger.d(MODULE_NAME, "处理V2X场景：" + GsonUtil.jsonFromObject(v2XMessageEntity));
+        Logger.d(MODULE_NAME, "处理V2X场景：" + (v2XMessageEntity == null ? "null" : v2XMessageEntity.toString()));
        try {
            synchronized (V2XScenarioManager.class) {
                // 展示
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -7,7 +7,12 @@ import android.view.ViewGroup;

 import androidx.annotation.Nullable;

+import com.google.protobuf.DescriptorProtos;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
+import com.mogo.eagle.core.utilcode.util.ObjectUtils;
 import com.mogo.eagle.core.utilcode.util.Utils;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
@@ -23,7 +28,8 @@ import com.mogo.service.windowview.IMogoTopViewStatusListener;
 * @description 车路云—场景预警-V1.0  前车/行人/摩托车/盲区碰撞预警
 * @since: 2021/3/24
 */
-public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopViewStatusListener, IMogoCarLocationChangedListener2 {
+public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopViewStatusListener ,IMoGoMapLocationListener{
+    private static final String TAG = "V2XWarningMarker";
    private V2XWarningEntity mMarkerEntity;
    static private V2XWarningMarker sV2XWarningMarker = new V2XWarningMarker();

@@ -34,10 +40,9 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV

    @Override
    public void init(@Nullable V2XMessageEntity v2XMessageEntity) {
+        Log.d(TAG, "----- init -----:\n" + (v2XMessageEntity == null ? "null" : v2XMessageEntity.toString()));
        try {
            if (v2XMessageEntity.getContent() != null) {
-                MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
-                        .registerCarLocationChangedListener(TAG, this);
                if (V2XServiceManager.getMoGoStatusManager().isMainPageOnResume()) {
                    mMarkerEntity = (V2XWarningEntity) v2XMessageEntity.getContent();
                    show();
@@ -57,7 +62,9 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV

    @Override
    public void showWindow() {
+        Log.d(TAG, "----- showWindow --- 1 --:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
        if (getV2XWindow() != null && mMarkerEntity != null) {
+            Log.d(TAG, "----- showWindow --- 2 --:\n" + mMarkerEntity.toString());
            ViewGroup.LayoutParams layoutParams =
                    new ViewGroup.LayoutParams(
                            ViewGroup.LayoutParams.MATCH_PARENT,
@@ -72,17 +79,17 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV

    @Override
    public void closeWindow() {
-
+        Log.d(TAG, "----- closeWindow -----:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
    }

    @Override
    public void showButton() {
-
+        Log.d(TAG, "----- showButton -----:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
    }

    @Override
    public void closeButton() {
-
+        Log.d(TAG, "----- closeButton -----:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
    }

    @Override
@@ -95,37 +102,38 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV

    @Override
    public void clearPOI() {
-
+        Log.d(TAG, "----- clearPOI -----");
    }

    @Override
    public void onViewAdded(View view) {

+        Log.d(TAG, "----- onViewAdded -----");
    }

    @Override
    public void onViewRemoved(View view) {
-        Log.d(TAG, "onViewRemoved");
+        Log.d(TAG, "----- onViewRemoved -----");
    }

    @Override
    public void beforeViewAddAnim(View view) {
-
+        Log.d(TAG, "----- beforeViewAddAnim -----");
    }

    @Override
    public void beforeViewRemoveAnim(View view) {
-
+        Log.d(TAG, "----- beforeViewRemoveAnim -----");
    }

+//    @Override
+//    public void onCarLocationChanged2(Location latLng) {
+//        sV2XWarningMarker.onCarLocationChanged2(latLng);
+//    }
+
+
    @Override
-    public void onCarLocationChanged2(Location latLng) {
-        sV2XWarningMarker.onCarLocationChanged2(latLng);
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location) {
+        sV2XWarningMarker.onCarLocationChanged2(location);
    }
-
-    @Override
-    public void onCarLocationChanged(MogoLatLng latLng) {
-
-    }
-
 }
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
@@ -5,6 +5,8 @@ import android.util.Log;

 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.drawer.V2XWarnDataDrawer;
@@ -34,7 +36,7 @@ import static com.mogo.module.v2x.V2XServiceManager.getContext;
 * @description 前方预警marker打点  绘制安全线和预警线
 * @since: 2021/3/30
 */
-public class V2XWarningMarker implements IV2XMarker {
+public class V2XWarningMarker implements IV2XMarker{
    private static final String TAG = "V2XWarningMarker";
    private static String WARNING_ARROWS = "WARNING_ARROWS";
    private V2XWarningEntity mCloundWarningInfo;
@@ -57,6 +59,7 @@ public class V2XWarningMarker implements IV2XMarker {
    @Override
    public void drawPOI(Object entity) {
        try {
+            Log.d(TAG, "===drawPOI");
            mCloundWarningInfo = (V2XWarningEntity) entity;
            drawLineWithEntity();

@@ -71,10 +74,12 @@ public class V2XWarningMarker implements IV2XMarker {

        fillPointOnStopLine();
        bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
-        hasStopLines = mCloundWarningInfo.getStopLines().size() > 0;
+        if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null) {
+            hasStopLines = mCloundWarningInfo.getStopLines().size() > 0;
+        }
        isSelfLineClear = false;
        isFirstLocation = false;
-        if (fillPoints.size() > 0) {
+        if (fillPoints != null && fillPoints.size() > 0) {
            //存在停止线的情况 自车与停止线之间绘制蓝色安全线 停止线向前50m绘制红色预警线
            middleLocationInStopLine = getMiddleLocationInStopLine();
            //停止线前方画线
@@ -83,7 +88,6 @@ public class V2XWarningMarker implements IV2XMarker {
                    //在自车与停止线直线绘制蓝色预警线
                    drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
                } else {
-                    Log.d(TAG, "自车定位数据为空carLocation == null");
                }
                //二轮车和行人的渲染和移动
                V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
@@ -102,7 +106,9 @@ public class V2XWarningMarker implements IV2XMarker {
            clearAllLine();

        } else { //无停止线
+            Log.d(TAG, "无停止线");
            WorkThreadHandler.getInstance().postDelayed(() -> {
+                Log.d(TAG, "无停止线" + mCloundWarningInfo.toString());
                //绘制识别物与交汇点连线，并且更新连线数据
                drawOtherObjectLine(mCloundWarningInfo);
                //二轮车和行人的渲染和移动
@@ -195,7 +201,7 @@ public class V2XWarningMarker implements IV2XMarker {
        try {
            fillPoints.clear();
            List stopLines = mCloundWarningInfo.getStopLines();
-            if (stopLines.size() > 1) {
+            if (stopLines != null && stopLines.size() > 1) {
                MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
                MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
                //两点间的距离
@@ -210,8 +216,11 @@ public class V2XWarningMarker implements IV2XMarker {
                    fillPoints.add(newLocation);
                }
                fillPoints.add(y);
+            } else {
+                Log.d(TAG, "停止线数据不存在");
            }
        } catch (Exception e) {
+            Log.d(TAG, "Exception");
            e.printStackTrace();
        }
    }
@@ -251,7 +260,7 @@ public class V2XWarningMarker implements IV2XMarker {
            Log.d(TAG, "获取不到车的位置");
        }
        MogoLatLng newLocation = new MogoLatLng(0, 0);
-        if (mCloundWarningInfo.getStopLines().size() > 1) {
+        if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null && mCloundWarningInfo.getStopLines().size() > 1) {
            MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
            MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
            float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
@@ -270,6 +279,7 @@ public class V2XWarningMarker implements IV2XMarker {
     * lat 自车纬度
     */
    public void drawSelfCarLine(double lon, double lat, float bearing) {
+        Log.d(TAG, "drawSelfCarLine");
        if (!isSelfLineClear) {
            if (mCloundWarningInfo != null) {
                IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
@@ -305,7 +315,9 @@ public class V2XWarningMarker implements IV2XMarker {
                    info.setLocations(locations);
                    info.setHeading(bearing);
                    info.setWidth(mCloundWarningInfo.getRoadwidth() * 14 + 5);
-                    info.setHasStopLines(mCloundWarningInfo.getStopLines().size() > 0);
+                    if (mCloundWarningInfo.getStopLines() != null){
+                        info.setHasStopLines(mCloundWarningInfo.getStopLines().size() > 0);
+                    }
                    V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
                    Log.d(TAG, "自车前方第一条线" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
                }
@@ -322,6 +334,7 @@ public class V2XWarningMarker implements IV2XMarker {
     */
    private void drawOtherObjectLine(V2XWarningEntity info) {
        if (info != null) {
+            Log.d(TAG, "info != null");
            IMogoPolyline polyLine = V2XServiceManager.getMoGoPersonWarnPolylineManager().getMogoPersonWarnPolyline();
            MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon());//识别物坐标
            MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());//预碰撞点坐标
@@ -329,7 +342,7 @@ public class V2XWarningMarker implements IV2XMarker {
            MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2,
                    Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));//补点
            if (polyLine != null) {
-                Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
+                Log.d(TAG, "目标物与碰撞点连线 != null");
                polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
                polyLine.setTransparency(0.5f);
            } else {
@@ -347,7 +360,7 @@ public class V2XWarningMarker implements IV2XMarker {
                Log.d(TAG, "目标物与预碰撞点画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
            }
        } else {
-            Log.e(V2XConst.LOG_NAME_WARN, "info == null");
+            Log.e(TAG, "info == null");
            clearAllLine();
        }
    }
@@ -371,7 +384,7 @@ public class V2XWarningMarker implements IV2XMarker {
    }

    //线随车动
-    public void onCarLocationChanged2(Location latLng) {
+    public void onCarLocationChanged2(MogoLocation latLng) {
        carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() && isSelfLineClear == false) {
            if (mCloundWarningInfo != null) {
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java
@@ -3,6 +3,7 @@ package com.mogo.module.v2x.scenario.scene.warning;
 import android.content.Context;
 import android.os.Handler;
 import android.util.AttributeSet;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.widget.ImageView;
@@ -25,7 +26,7 @@ import java.math.BigDecimal;
 * @since: 2021/3/25
 */
 public class V2XWarningWindow extends V2XBasWindow implements IV2XWindow {
-
+    private static final String TAG = "V2XWarningMarker";
    private ImageView typeImage;
    private TextView warningTextView;
    private TextView distance;
@@ -63,6 +64,7 @@ public class V2XWarningWindow extends V2XBasWindow implements IV2XWindow {
    public void show(Object entity) {
        if (entity != null) {
            mV2XWarningEntity = (V2XWarningEntity) entity;
+            Log.d(TAG, mV2XWarningEntity.toString());
            //1行人/2自行车/4摩托车
            switch (mV2XWarningEntity.getType()) {
                case 1:
--- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json
+++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json
@@ -1,29 +1,19 @@
 {
  "type": 1,
-  "lat": 26.87912015,
-  "lon": 112.56885373,
-  "distance": 2.678,
-  "collisionLat": 26.8791769,
-  "collisionLon": 112.56896496,
+  "lat": 26.851993861219782,
+  "lon": 112.57065318116094,
+  "distance": 5.89,
+  "collisionLat": 26.85198163866211,
+  "collisionLon": 112.57059540184451,
  "stopLines": [
-    {
-      "lat": 26.8791769,
-      "lon": 112.56896496
-
-    },
-    {
-      "lat": 26.879153,
-      "lon": 112.568997
-    }
  ],
  "from": 1,
  "angle": 240,
  "direction": 1,
  "speed": 11.108121,
-  "targetColor": "#FF4040",
  "stopLineDistance": 60,
  "warningContent": "小心行人",
-  "heading": 0,
+  "heading": 76,
  "showTime": 3,
  "roadwidth": 4.0
 }