From b585bf0f5adff8b28b2fdcaa25b136367e5f26a3 Mon Sep 17 00:00:00 2001
From: xinfengkun <xinfengkun@zhidaoauto.com>
Date: Fri, 17 Oct 2025 11:47:42 +0800
Subject: [PATCH] =?UTF-8?q?[8.2.6][fix]=E4=BF=AE=E5=A4=8D=E7=A9=BA?=
 =?UTF-8?q?=E6=8C=87=E9=92=88=E5=BC=82=E5=B8=B8?=
MIME-Version: 1.0
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---
 .../support/adas/high/common/ReceivedAckManager.java     | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java
index 32275156c4..06e629ed24 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java
@@ -125,6 +125,15 @@ public class ReceivedAckManager {
                         Iterator<ReceivedAck> iterator = queue.iterator();
                         while (iterator.hasNext()) {
                             ReceivedAck ack = iterator.next();
+                            if (ack == null) {
+                                iterator.remove();
+                                continue;
+                            }
+                            MessageType messageType = ack.getMessageType();
+                            if (messageType == null) {
+                                iterator.remove();
+                                continue;
+                            }
                             long t = ack.getMessageType().timeoutMillis;
                             if (t != 0L && time - ack.getSendTime() > t) {
                                 //超时