add new func of ezhou airport and upgrade the aiSdkVersion to fit demo server

.idea/misc.xml

@@ -8,6 +8,17 @@
     <asm skipDebug="false" skipFrames="false" skipCode="false" expandFrames="false" />
     <groovy codeStyle="LEGACY" />
   </component>
+  <component name="DesignSurface">
+    <option name="filePathToZoomLevelMap">
+      <map>
+        <entry key="../../../../../layout/custom_preview.xml" value="0.19947916666666668" />
+        <entry key="modules/mogo-module-service/src/main/res/drawable/bg_adas_dispatch.xml" value="0.184" />
+        <entry key="modules/mogo-module-service/src/main/res/drawable/bg_adas_dispatch_affirm.xml" value="0.19166666666666668" />
+        <entry key="modules/mogo-module-service/src/main/res/drawable/bg_map_marker_blue_info.xml" value="0.184" />
+        <entry key="modules/mogo-module-service/src/main/res/layout/module_dialog_adas_dispatch_remind.xml" value="0.35734252929687504" />
+      </map>
+    </option>
+  </component>
   <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>

app/src/main/java/com/mogo/launcher/MogoApplication.java

@@ -200,10 +200,6 @@ public class MogoApplication extends AbsMogoApplication {
         // 第三方平台的sn是由AI云SDK中服务调用通过服务端生成的
         preparePassportEnvironment();
         prepareSocketAndLocationServices(apis);
-        //无延迟
-//        UiThreadHandler.postDelayed(() -> {
-//
-//        }, delay);
     }
 
     private void preparePassportEnvironment() {
@@ -245,14 +241,16 @@ public class MogoApplication extends AbsMogoApplication {
                 break;
         }
         // 设置应用服务AppId  长链、鉴权
-        clientConfig.setServiceAppId("com_mogo_launcher");
+        if (DebugConfig.getNetMode() == DebugConfig.NET_MODE_RELEASE || DebugConfig.getNetMode() == DebugConfig.NET_MODE_DEMO) {
+            clientConfig.setServiceAppId("com_mogo_launcher");
+        } else {
+            clientConfig.setServiceAppId("com.mogo.launcher");
+        }
         // 设置AI云平台分配给三方应用的签名密钥，需要从AI云平台申请
         // 设置车机设备的唯一标识（这些表识必须是通过后台录入的设备）
         clientConfig.setThirdPartyDeviceId(Utils.getSn());
         // 设置循环检测间隔时间
         clientConfig.setLoopCheckDelay(15 * 1000);
-        // 设置是否使用MoGoAiCloud SDK内部定位进行实时数据上报
-        clientConfig.setIsUseExternalLocation(true);
 
         // 设置DNS经纬度位置
         clientConfig.setIHttpDnsCurrentLocation(new IHttpDnsCurrentLocation() {

foudations/mogo-aicloud-services-apk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java

@@ -7,10 +7,10 @@ import androidx.annotation.Keep;
 import com.mogo.cloud.socket.IMogoCloudSocketMsgAckListener;
 import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener;
 import com.mogo.cloud.socket.SocketManager;
+import com.mogo.cloud.socket.entity.MsgBody;
 import com.mogo.service.connection.IMogoMsgAckListener;
 import com.mogo.service.connection.IMogoOnMessageListener;
 import com.mogo.service.connection.IMogoSocketManager;
-import com.mogo.service.connection.MsgBody;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.ptech.connsvr.commom.protocol.MogoCommon;
 
@@ -105,7 +105,7 @@ public class MogoAiCloudSocketManager implements IMogoSocketManager {
     public void sendMsg(MsgBody body, IMogoMsgAckListener listener) {
         Logger.d(TAG, "sendMsg.");
         mAckListeners.put(body.getMsgId(), listener);
-        com.mogo.cloud.socket.MsgBody msgBody = new com.mogo.cloud.socket.MsgBody();
+        MsgBody msgBody = new MsgBody();
         msgBody.msgType(body.getMsgType());
         msgBody.ack(body.isAck());
         msgBody.content(body.getContent());

foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java

@@ -7,10 +7,10 @@ import androidx.annotation.Keep;
 import com.mogo.cloud.socket.IMogoCloudSocketMsgAckListener;
 import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener;
 import com.mogo.cloud.socket.SocketManager;
+import com.mogo.cloud.socket.entity.MsgBody;
 import com.mogo.service.connection.IMogoMsgAckListener;
 import com.mogo.service.connection.IMogoOnMessageListener;
 import com.mogo.service.connection.IMogoSocketManager;
-import com.mogo.service.connection.MsgBody;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.ptech.connsvr.commom.protocol.MogoCommon;
 
@@ -105,7 +105,7 @@ public class MogoAiCloudSocketManager implements IMogoSocketManager {
     public void sendMsg(MsgBody body, IMogoMsgAckListener listener) {
         Logger.d(TAG, "sendMsg.");
         mAckListeners.put(body.getMsgId(), listener);
-        com.mogo.cloud.socket.MsgBody msgBody = new com.mogo.cloud.socket.MsgBody();
+        MsgBody msgBody = new MsgBody();
         msgBody.msgType(body.getMsgType());
         msgBody.ack(body.isAck());
         msgBody.content(body.getContent());

gradle.properties

@@ -13,7 +13,7 @@ org.gradle.parallel=true
 org.gradle.jvmargs=-Xmx4096m
 
 #开启gradle缓存
-org.gradle.caching=true
+org.gradle.caching=trueconstraintlayout
 android.enableBuildCache=true
 
 #开启kotlin的增量和并行编译
@@ -157,19 +157,19 @@ LOGLIB_VERSION = 1.0.4
 
 ######## MogoAiCloudSDK Version
 # 网络请求
-MOGO_NETWORK_VERSION=1.0.84
+MOGO_NETWORK_VERSION=1.1.34
 # 鉴权
-MOGO_PASSPORT_VERSION=1.0.84
+MOGO_PASSPORT_VERSION=1.1.34
 # 常链接
-MOGO_SOCKET_VERSION=1.0.84
+MOGO_SOCKET_VERSION=1.1.34
 # 数据采集
-MOGO_REALTIME_VERSION=1.0.84
+MOGO_REALTIME_VERSION=1.1.34
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.0.84
+MOGO_TANLU_VERSION=1.1.34
 # 直播推流
-MOGO_LIVE_VERSION=1.0.84
+MOGO_LIVE_VERSION=1.1.34
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.0.84
+MOGO_TRAFFICLIVE_VERSION=1.1.34
 
 ######## Foundation MogoAiCloud Module
 # mogoAiCloud apk services

libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapNaviViewWrapper.java

@@ -51,7 +51,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
 import com.mogo.map.uicontroller.VisualAngleMode;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.WindowUtils;
 import com.mogo.utils.logger.Logger;
 

libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapViewWrapper.java

@@ -46,7 +46,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
 import com.mogo.map.uicontroller.VisualAngleMode;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.NetworkUtils;
 import com.mogo.utils.WindowUtils;
 import com.mogo.utils.logger.Logger;

libraries/map-amap/src/main/java/com/mogo/map/impl/amap/uicontroller/AMapUIController.java

@@ -14,7 +14,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
 import com.mogo.map.uicontroller.VisualAngleMode;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.logger.Logger;
 
 import java.util.List;
@@ -311,9 +310,9 @@ public class AMapUIController implements IMogoMapUIController {
     }
 
     @Override
-    public void setAdasRecognizedResult(int drawlevel) {
+    public void setAdasRecognizedResult(int drawLevel) {
         if ( mClient != null ) {
-            mClient.setAdasRecognizedResult(drawlevel);
+            mClient.setAdasRecognizedResult(drawLevel);
         }
     }
 

libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java

@@ -14,7 +14,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
 import com.mogo.map.uicontroller.VisualAngleMode;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.zhidaoauto.map.sdk.open.MapAutoApi;
 
 import org.json.JSONObject;

libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java

@@ -11,7 +11,6 @@ import androidx.annotation.Nullable;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.anim.OnMarkerAnimationListener;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 
 import org.json.JSONObject;
 

libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java

@@ -13,7 +13,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
 import com.mogo.map.uicontroller.VisualAngleMode;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.logger.Logger;
 
 import org.json.JSONObject;

modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java

@@ -1,8 +1,8 @@
-package com.mogo.module.common.uploadintime;
+package com.mogo.module.common.datacenter;
 
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.realtime.entity.CloudLocationInfo;
+import com.mogo.service.locationinfo.CloudLocationInfo;
 import com.mogo.utils.logger.Logger;
 
 import org.json.JSONObject;
@@ -16,20 +16,20 @@ import java.util.List;
  *
  * 实时坐标数据处理中心
  */
-public class SnapshotLocationController {
+public class SnapshotLocationDataCenter {
 
     private static final String TAG = "SnapshotLocationController";
 
-    private static volatile SnapshotLocationController sInstance;
+    private static volatile SnapshotLocationDataCenter sInstance;
 
-    private SnapshotLocationController() {
+    private SnapshotLocationDataCenter() {
     }
 
-    public static SnapshotLocationController getInstance() {
+    public static SnapshotLocationDataCenter getInstance() {
         if (sInstance == null) {
-            synchronized (SnapshotLocationController.class) {
+            synchronized (SnapshotLocationDataCenter.class) {
                 if (sInstance == null) {
-                    sInstance = new SnapshotLocationController();
+                    sInstance = new SnapshotLocationDataCenter();
                 }
             }
         }

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java

@@ -1,24 +1,29 @@
 package com.mogo.module.common.drawer;
 
+import android.os.Build;
 import android.os.Message;
 import android.text.TextUtils;
+import android.util.Log;
 
+import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.DataTypes;
-import com.mogo.module.common.utils.SimpleHandlerThreadPool;
-import com.mogo.realtime.entity.ADASRecognizedResult;
-import com.mogo.utils.logger.Logger;
+import com.mogo.module.common.drawer.bean.SpeedData;
+import com.mogo.module.common.utils.Trigonometric;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
 
 import java.util.ArrayList;
-import java.util.HashMap;
 import java.util.Iterator;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;
+
+import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
 
 public
 /**
@@ -29,20 +34,25 @@ public
  */
 class AdasRecognizedResultDrawer extends BaseDrawer {
 
-    private static final String TAG = "AdasRecognizedResultDrawer";
+    private static final String TAG = "RecognizedResultDrawer";
 
     private static volatile AdasRecognizedResultDrawer sInstance;
 
+    /**
+     * 上一帧数据的缓存
+     */
+    private static Map<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
+
     public AdasRecognizedResultDrawer() {
         super();
     }
 
-    private final Map< String, ADASRecognizedResult > mLastPositions = new ConcurrentHashMap<>();
+    private final Map<String, ADASRecognizedResult> mLastPositions = new ConcurrentHashMap<>();
 
     public static AdasRecognizedResultDrawer getInstance() {
-        if ( sInstance == null ) {
-            synchronized ( AdasRecognizedResultDrawer.class ) {
-                if ( sInstance == null ) {
+        if (sInstance == null) {
+            synchronized (AdasRecognizedResultDrawer.class) {
+                if (sInstance == null) {
                     sInstance = new AdasRecognizedResultDrawer();
                 }
             }
@@ -59,212 +69,268 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
         return sInstance;
     }
 
-    public boolean hasCached( String uniqueKey ) {
-        return mMarkersCaches.containsKey( uniqueKey );
+    public boolean hasCached(String uniqueKey) {
+        return mMarkersCaches.containsKey(uniqueKey);
     }
 
     /**
      * 渲染 adas 识别的数据
      *
-     * @param resultList
+     * @param resultList adas感知融合数据
      */
-    public void renderAdasRecognizedResult( List< ADASRecognizedResult > resultList ) {
-        if ( resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize() ) {
+    public void renderAdasRecognizedResult(List<ADASRecognizedResult> resultList) {
+        final long start = System.nanoTime();
+        if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
             clearOldMarker();
             return;
         }
 
-        if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
+        if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
             clearOldMarker();
             return;
         }
 
-        Map< String, IMogoMarker > newAdasRecognizedMarkersCaches = new HashMap<>();
-        List< ADASRecognizedResult > newDiffSet = new ArrayList<>();
-        for ( ADASRecognizedResult recognizedListResult : resultList ) {
+//        List<ADASRecognizedResult> allDatumsList = new ArrayList<>();
+//        prepareData(resultList, allDatumsList);
 
-            if ( isUselessValue( recognizedListResult ) ) {
+        Map<String, IMogoMarker> newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
+        List<ADASRecognizedResult> newDiffSet = new ArrayList<>();
+        for (ADASRecognizedResult recognizedListResult : resultList) {
+
+            if (isUselessValue(recognizedListResult)) {
                 continue;
             }
-
             // 复用之前存在的 marker
             String uniqueKey = recognizedListResult.uuid;
-            IMogoMarker marker = mMarkersCaches.remove( uniqueKey );
-            if ( marker != null && !marker.isDestroyed() ) {
-                renderAdasOneFrame( marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches );
+            IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
+            if (marker != null && !marker.isDestroyed()) {
+//                Log.d(TAG, "发现缓存marker id : " + uniqueKey);
+                updateCacheMarkerRes(marker, recognizedListResult);
+                renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
             } else {
-                // 新增差集
-                newDiffSet.add( recognizedListResult );
+                // 新增添加进差集
+                newDiffSet.add(recognizedListResult);
             }
         }
-
-        removeUselessMarker();
-
-        // 能复用的 marker 数量
-        int cachedMarkerSize = mMarkersCaches.size();
-        // 需要新增的 marker 数量
+        removeUselessMarker(mMarkersCaches);
+        removeUselessLastRecord();
         int newDiffSetSize = newDiffSet.size();
-        // 能复用的数量
-        int size = cachedMarkerSize >= newDiffSetSize ? newDiffSetSize : cachedMarkerSize;
-
+//        Log.d(TAG, "原数据量 ： " + resultList.size() + "  新增marker数量 ： " + newDiffSetSize);
         // 复用过期 marker
-        if ( newDiffSetSize > 0 ) {
-            Iterator< Map.Entry< String, IMogoMarker > > entryIterator = mMarkersCaches.entrySet().iterator();
-            for ( int i = 0; i < size; i++ ) {
-                ADASRecognizedResult recognizedListResult = newDiffSet.get( i );
+        if (newDiffSetSize > 0) {
+            for (int i = 0; i < newDiffSetSize; i++) {
+                ADASRecognizedResult recognizedListResult = newDiffSet.get(i);
                 String uniqueKey = recognizedListResult.uuid;
-                Map.Entry< String, IMogoMarker > entry = entryIterator.next();
-                entryIterator.remove();
-                ADASRecognizedResult old = mLastPositions.remove( entry.getKey() );
-                IMogoMarker marker = entry.getValue();
-                if ( marker == null ) {
+                IMogoMarker marker = drawAdasRecognizedDataMarker(recognizedListResult);
+                if (marker == null) {
                     continue;
                 }
-
-                // 更新资源内容
-                if ( old == null || old.type != recognizedListResult.type ) {
-                    String resIdVal = null;
-                    int resId = getModelRes( recognizedListResult.type );
-                    resIdVal = resId + "";
-                    String resName = mMarkerCachesResMd5Values.get( resIdVal );
-                    if ( !TextUtils.isEmpty( resName ) ) {
-                        if ( !TextUtils.equals( resName, marker.getMarkerResName() ) ) {
-                            marker.use3DResource( resName );
-                        }
-                    } else {
-                        resName = marker.use3DResource( resId );
-                        mMarkerCachesResMd5Values.put( resIdVal, resName );
-                    }
-                }
-
-                renderAdasOneFrame( marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches );
-            }
-
-            // 复用过后还需新增的 marker
-
-            for ( int i = size; i < newDiffSetSize; i++ ) {
-                ADASRecognizedResult recognizedListResult = newDiffSet.get( i );
-                String uniqueKey = recognizedListResult.uuid;
-                IMogoMarker marker = drawAdasRecognizedDataMarker( recognizedListResult );
-                if ( marker == null ) {
-                    continue;
-                }
-                renderAdasOneFrame( marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches );
+//                Log.d(TAG, "新增marker id : " + uniqueKey);
+                renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
             }
         }
-        if ( cachedMarkerSize - size > 0 ) {
-            sendMessage( MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches );
-        }
+        sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
+        mMarkersCaches.clear();
         mMarkersCaches = newAdasRecognizedMarkersCaches;
+        Log.d("ADAS数据延时绘制", "render 接收数据 -> 处理结束 " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
     }
 
-    private boolean isUselessValue( ADASRecognizedResult recognizedListResult ) {
-        if ( recognizedListResult == null ) {
-            return true;
-        }
-        if ( !isRenderType( recognizedListResult.type ) ) {
-            return true;
-        }
+    /**
+     * 对数据补点
+     *
+     * @param in
+     * @param out
+     */
+    private void prepareData(List<ADASRecognizedResult> in, List<ADASRecognizedResult> out) {
+//        foreCastPoint(in);
+        out.addAll(in);
+    }
 
-        String uniqueKey = recognizedListResult.uuid;
-        if ( TextUtils.isEmpty( uniqueKey ) ) {
+    private final static String FORECAST = "adasForecast";
+
+    /**
+     * 基于工控机识别的数据点速度预测当前位置和距离自车距离
+     *
+     * @param in 数据源
+     */
+    private void foreCastPoint(List<ADASRecognizedResult> in) {
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
+            for (ADASRecognizedResult adasResult : in) {
+                Log.d(FORECAST, "ready to foreCast current uuid : " + adasResult.uuid);
+                long internal = getCurSatelliteTime() - adasResult.satelliteTime;
+                if (internal <= 0) {
+                    Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.uuid);
+                    continue;
+                }
+                long startTime = System.currentTimeMillis();
+                // 预测点
+                Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.speed);
+                double foreCastDistance = adasResult.speed * internal / 1000;
+                Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
+                MogoLatLng mogoLatLng = new MogoLatLng(adasResult.lat, adasResult.lon);
+                MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.heading);
+
+                // 计算与自车距离
+                float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
+                        , foreCastMogoLatLon.getLon(), foreCastMogoLatLon.getLat());
+
+                long foreCastInternal = System.currentTimeMillis() - startTime;
+                Log.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 耗时1~2毫秒 需要测试是否由于补点算法造成
+
+                adasResult.lat = foreCastMogoLatLon.getLat();
+                adasResult.lon = foreCastMogoLatLon.getLon();
+                adasResult.satelliteTime = (getCurSatelliteTime() - foreCastInternal);
+                adasResult.distance = distanceFromSelf;
+            }
+        }
+    }
+
+    /**
+     * todo 后面涉及到此类变化的数据均改动
+     *
+     * @param marker
+     * @param recognizedListResult
+     */
+    private void updateCacheMarkerRes(IMogoMarker marker, ADASRecognizedResult recognizedListResult) {
+        String resIdVal;
+        int resId = getModelRes(recognizedListResult.type);
+        resIdVal = resId + "";
+        String resName = mMarkerCachesResMd5Values.get(resIdVal);
+        if (!TextUtils.isEmpty(resName)) {
+            if (!TextUtils.equals(resName, marker.getMarkerResName())) {
+                marker.use3DResource(resName);
+            }
+        } else {
+            resName = marker.use3DResource(resId);
+            mMarkerCachesResMd5Values.put(resIdVal, resName);
+        }
+    }
+
+    private void removeUselessLastRecord() {  // todo 最好重新设计一个数据结构，用于多线程数据过期失效的场景，参见redis数据过期
+        if (mLastPositions.isEmpty()) {
+            return;
+        }
+        Iterator<ADASRecognizedResult> iterator = mLastPositions.values().iterator();
+        Log.d("EmArrow", "removeUselessLastRecord size : " + mLastPositions.size());
+        while (iterator.hasNext()) {
+            ADASRecognizedResult result = iterator.next();
+            long internal = result.satelliteTime - getCurSatelliteTime();
+            if (internal > 3000) { //防止帧率过低导致误删除上一个节点对象，从而出现跳跃现象
+                iterator.remove();
+            }
+        }
+    }
+
+    /**
+     * 过滤无用数据
+     *
+     * @param recognizedListResult {@link ADASRecognizedResult}
+     * @return useless
+     */
+    private boolean isUselessValue(ADASRecognizedResult recognizedListResult) {
+        if (recognizedListResult == null) {
             return true;
         }
-        return false;
+        if (nonRenderType(recognizedListResult.type)) {
+            return true;
+        }
+        String uniqueKey = recognizedListResult.uuid;
+        return TextUtils.isEmpty(uniqueKey);
     }
 
     /**
      * 绘制某个物体的一个数据
      *
-     * @param recognizedListResult
-     * @param newAdasRecognizedMarkersCaches
+     * @param recognizedListResult           {@link ADASRecognizedResult}
+     * @param newAdasRecognizedMarkersCaches 缓存集合
      */
-    private void renderAdasOneFrame( IMogoMarker marker,
-                                     String uniqueKey,
-                                     ADASRecognizedResult recognizedListResult,
-                                     Map< String, IMogoMarker > newAdasRecognizedMarkersCaches ) {
+    private void renderAdasOneFrame(IMogoMarker marker,
+                                    String uniqueKey,
+                                    ADASRecognizedResult recognizedListResult,
+                                    Map<String, IMogoMarker> newAdasRecognizedMarkersCaches) {
+        final long start = System.nanoTime();
+//        Log.d(TAG, "renderAdasOneFrame uuid :  " + uniqueKey + "  type : " + recognizedListResult.type + " heading : " + recognizedListResult.heading);
+        ADASRecognizedResult lastPosition = mLastPositions.remove(uniqueKey);
+        // 道路吸附
+//        double lastLon = -1;
+//        double lastLat = -1;
+//        if (lastPosition != null) {
+//            lastLon = lastPosition.lon;
+//            lastLat = lastPosition.lat;
+//        }
+//        double[] matchLonLat = getMatchLonLat(recognizedListResult.uuid, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading, lastLon, lastLat);
+//
+//        recognizedListResult.lon = matchLonLat[0];
+//        recognizedListResult.lat = matchLonLat[1];
+//        Log.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
 
-        final long start = System.currentTimeMillis();
-
-        ADASRecognizedResult lastPosition = mLastPositions.remove( uniqueKey );
-        double lastLon = -1;
-        double lastLat = -1;
-        if ( lastPosition != null ) {
-            lastLon = lastPosition.lon;
-            lastLat = lastPosition.lat;
-        }
-        double[] matchLonLat = getMatchLonLat( recognizedListResult.uuid, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading, lastLon, lastLat );
-
-        recognizedListResult.lon = matchLonLat[0];
-        recognizedListResult.lat = matchLonLat[1];
-
-        mLastPositions.put( uniqueKey, recognizedListResult );
-//        Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
-
-        newAdasRecognizedMarkersCaches.put( uniqueKey, marker );
-        if ( lastPosition != null ) {
-            long interval = computeAnimDuration( lastPosition.systemTime, recognizedListResult.systemTime, lastPosition.satelliteTime, recognizedListResult.satelliteTime );
-
-            final MogoLatLng renderLoc = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
-            long cost = System.currentTimeMillis() - start;
-            final long intervalRef = interval - cost;
-            SimpleHandlerThreadPool.getInstance().postRender( () -> {
-                marker.addDynamicAnchorPosition( renderLoc, ( float ) recognizedListResult.heading, intervalRef );
-            } );
-        } else {
-            marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
-            marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
+        mLastPositions.put(uniqueKey, recognizedListResult);
+//        Log.d(TAG, "使用缓存 id : " + uniqueKey);
+        long interval = 45;
+        if (lastPosition != null) {
+            interval = computeAnimDuration(lastPosition.satelliteTime, recognizedListResult.satelliteTime);
         }
+        final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon);
+        long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
+        Log.d("ADAS动画数据","cost : " + cost);
+        final long intervalRef = interval - cost;
+        Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + "  两帧间隔 : " + interval + "  uuid : " + recognizedListResult.uuid);
+        marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.heading, intervalRef);
         String carColor = recognizedListResult.color;
-        if ( TextUtils.isEmpty( carColor ) ) {
-            carColor = getModelRenderColor( recognizedListResult.type, recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading );
+        if (TextUtils.isEmpty(carColor)) {
+            carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.drawlevel);
         }
-        marker.setAnchorColor( carColor );
+        marker.setAnchorColor(carColor);
 
-        if ( shouldShowSpeed( recognizedListResult.type ) ) {
+        newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
+
+        if (shouldShowSpeed(recognizedListResult.type)) {
             Message msg = mRenderThreadHandler.obtainMessage();
-            SpeedData obj = new SpeedData();
-            obj.context = mContext;
-            obj.marker = marker;
-            obj.speed = recognizedListResult.speed;
-            msg.obj = obj;
+            msg.obj = new SpeedData(marker
+                    , recognizedListResult.speed
+                    , recognizedListResult.uuid
+                    , recognizedListResult.type
+                    , recognizedListResult.heading
+                    , MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
             msg.what = MSG_DISPLAY_SPEED;
             msg.sendToTarget();
         }
+        Log.d("ADAS数据延时", "render 刷新一台车 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
     }
 
     /**
      * 绘制 marker
      *
-     * @param recognizedListResult
-     * @return
+     * @param recognizedListResult {@link ADASRecognizedResult}
+     * @return {@link IMogoMarker}
      */
-    private IMogoMarker drawAdasRecognizedDataMarker( ADASRecognizedResult recognizedListResult ) {
-        if ( recognizedListResult == null ) {
+    private IMogoMarker drawAdasRecognizedDataMarker(ADASRecognizedResult recognizedListResult) {
+        long start = System.nanoTime();
+        if (recognizedListResult == null) {
             return null;
         }
 
-        String resIdVal = null;
-        int resId = getModelRes( recognizedListResult.type );
-        resIdVal = resId + "";
+        int resId = getModelRes(recognizedListResult.type);
+        String resIdVal = resId + "";
 
         String carColor = recognizedListResult.color;
-        if ( TextUtils.isEmpty( carColor ) ) {
-            carColor = getModelRenderColor( recognizedListResult.type, recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading );
+        if (TextUtils.isEmpty(carColor)) {
+            carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.drawlevel);
         }
         MogoMarkerOptions options = new MogoMarkerOptions()
-                .owner( DataTypes.TYPE_MARKER_ADAS )
-                .anchor( 0.5f, 0.5f )
-                .set3DMode( true )
-                .gps( true )
-                .anchorColor( carColor )
-                .controlAngle( true )
-                .resName( mMarkerCachesResMd5Values.get( resIdVal ) )
-                .icon3DRes( resId )
-                .rotate( ( float ) recognizedListResult.heading )
-                .position( new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon ) );
-        IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_ADAS, options );
-        cacheMarkerIconResMd5Val( resIdVal, marker );
+                .owner(DataTypes.TYPE_MARKER_ADAS)
+                .anchor(0.5f, 0.5f)
+                .set3DMode(true)
+                .gps(true)
+                .anchorColor(carColor)
+                .controlAngle(true)
+                .resName(mMarkerCachesResMd5Values.get(resIdVal))
+                .icon3DRes(resId)
+                .rotate((float) recognizedListResult.heading)
+                .position(new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon));
+        IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
+        cacheMarkerIconResMd5Val(resIdVal, marker);
+        Log.d("ADAS数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
         return marker;
     }
 
@@ -279,12 +345,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      * 清除旧的 marker 数据
      */
     public void clearOldMarker() {
-        if ( mMarkersCaches != null ) {
+        if (mMarkersCaches != null) {
             mMarkersCaches.clear();
         }
-        if ( mLastPositions != null ) {
-            mLastPositions.clear();
-        }
-        sendMessage( MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_ADAS );
+        mLastPositions.clear();
+        sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_ADAS);
     }
 }

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java

@@ -1,5 +1,8 @@
 package com.mogo.module.common.drawer;
 
+import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
+import static java.lang.Math.PI;
+
 import android.content.Context;
 import android.graphics.Color;
 import android.graphics.Typeface;
@@ -10,23 +13,21 @@ import android.util.Log;
 import android.view.ViewGroup;
 import android.widget.TextView;
 
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.R;
 import com.mogo.module.common.constants.AdasRecognizedType;
-import com.mogo.module.common.uploadintime.SnapshotLocationController;
+import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
+import com.mogo.module.common.drawer.bean.SpeedData;
 import com.mogo.utils.WorkThreadHandler;
 
 import java.util.Collection;
-import java.util.HashMap;
 import java.util.Iterator;
 import java.util.Map;
 import java.util.Random;
 import java.util.Set;
-
-import static java.lang.Math.PI;
+import java.util.concurrent.ConcurrentHashMap;
 
 public
         /*
@@ -37,40 +38,19 @@ public
          */
 class BaseDrawer {
 
-    /**
-     * 速度显示对象
-     */
-    public class SpeedData {
-
-        public IMogoMarker marker;
-        public Context context;
-        double speed;
-
-        public void showSpeed() {
-            try {
-                showSelfSpeed(context,
-                        marker,
-                        speed,
-                        MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
-            } catch (Exception e) {
-                e.printStackTrace();
-            }
-        }
-    }
-
     // 移除过期的 marker
     public static final int MSG_REMOVE_DIRTY_MARKERS = 9990;
 
-    /**
-     * 显示速度
-     */
-    public static final int MSG_DISPLAY_SPEED = 11;
-
     /**
      * 地图刷新频率
      */
     public static final int MAP_RENDER_FRAME_FREQUENCY = 30;
 
+    /**
+     * 显示速度
+     */
+    public static final int MSG_DISPLAY_SPEED = 11;
+
     /**
      * 移动点的时间间隔
      */
@@ -79,23 +59,30 @@ class BaseDrawer {
     /**
      * 地图内部资源md5缓存，便于资源复用
      */
-    protected static final Map<String, String> mMarkerCachesResMd5Values = new HashMap<>();
-
-    /**
-     * 上一帧数据的缓存
-     */
-    protected Map<String, IMogoMarker> mMarkersCaches = new HashMap<>();
+    protected static final ConcurrentHashMap<String, String> mMarkerCachesResMd5Values = new ConcurrentHashMap<>();
 
     protected final Context mContext;
 
-    protected static Handler mRenderThreadHandler = null;
+    private static TextView mSpeedView;
 
     public BaseDrawer() {
         mContext = AbsMogoApplication.getApp();
         initWorkThreadHandler();
+        initView();
+    }
+
+    private void initView() {
+        if (mSpeedView == null) {
+            mSpeedView = new TextView(mContext);
+            mSpeedView.setSingleLine(false);
+            mSpeedView.setTextColor(Color.WHITE);
+            mSpeedView.setTypeface(Typeface.defaultFromStyle(Typeface.BOLD));
+            mSpeedView.setLayoutParams(new ViewGroup.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT));
+        }
     }
 
     private static Handler mWorkThreadHandler;
+    protected static Handler mRenderThreadHandler = null;
 
     /**
      * 处理 marker 移除的线程
@@ -140,30 +127,29 @@ class BaseDrawer {
         }
     }
 
-    /**
-     * 显示速度
-     *
-     * @param data {@link SpeedData}
-     */
-    private static void showSpeed(SpeedData data) {
-        if (data == null) {
-            return;
-        }
-        data.showSpeed();
+    private static void showSpeed(SpeedData speedData) {
+        showSelfSpeed(speedData.getMarker()
+                , speedData.getSpeed()
+                , speedData.getUuid()
+                , speedData.getType()
+                , speedData.getHeading()
+                , speedData.getIsVrMode());
     }
 
     /**
      * 清除无效[为 null 或者 已被销毁]的 marker
      */
-    protected void removeUselessMarker() {
+    protected void removeUselessMarker(Map<String, IMogoMarker> mMarkersCaches) {
         if (mMarkersCaches == null || mMarkersCaches.isEmpty()) {
             return;
         }
         Iterator<IMogoMarker> iterator = mMarkersCaches.values().iterator();
         while (iterator.hasNext()) {
             IMogoMarker marker = iterator.next();
-            if (marker == null || marker.isDestroyed()) {
+            if (marker != null) {
                 iterator.remove();
+                marker.remove();
+                marker.destroy();
             }
         }
     }
@@ -187,29 +173,29 @@ class BaseDrawer {
      * @param type {@link AdasRecognizedType}
      * @return render
      */
-    public boolean isRenderType(int type) {
+    public boolean nonRenderType(int type) {
         AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
-        return recognizedType == AdasRecognizedType.classIdCar
-                || recognizedType == AdasRecognizedType.classIdMoto
-                || recognizedType == AdasRecognizedType.classIdBicycle
-                || recognizedType == AdasRecognizedType.classIdPerson
-                || recognizedType == AdasRecognizedType.classIdTrafficBus
-                || recognizedType == AdasRecognizedType.classIdTrafficTruck
-                || recognizedType == AdasRecognizedType.classIdUnKnow; //todo unKnow物体绘制
+        return recognizedType != AdasRecognizedType.classIdCar
+                && recognizedType != AdasRecognizedType.classIdMoto
+                && recognizedType != AdasRecognizedType.classIdBicycle
+                && recognizedType != AdasRecognizedType.classIdPerson
+                && recognizedType != AdasRecognizedType.classIdTrafficBus
+                && recognizedType != AdasRecognizedType.classIdTrafficTruck
+                && recognizedType != AdasRecognizedType.classIdUnKnow;
     }
 
     /**
-     * 是否展示车速
+     * 是否展示车速，UUID以及类型
      *
      * @param type {@link AdasRecognizedType}
      * @return showSpeed
      */
     public boolean shouldShowSpeed(int type) {
-        AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
-        return recognizedType != AdasRecognizedType.classIdBicycle
-                && recognizedType != AdasRecognizedType.classIdMoto
-                && recognizedType != AdasRecognizedType.classIdPerson
-                && recognizedType != AdasRecognizedType.classIdUnKnow; //todo unKnow物体不绘制车速
+        return true; //todo 验证行人预警,对行人和自行车不做infoWindow过滤
+//        AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
+//        return recognizedType != AdasRecognizedType.classIdPerson;
+//                &&recognizedType != AdasRecognizedType.classIdBicycle //todo Bicycle显示
+//                && recognizedType != AdasRecognizedType.classIdMoto  //todo moto显示
     }
 
     /**
@@ -220,64 +206,53 @@ class BaseDrawer {
      */
     public int getModelRes(int type) {
         AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
-        if (recognizedType == AdasRecognizedType.classIdCar
-                || recognizedType == AdasRecognizedType.classIdTrafficTruck) {
-            return R.raw.othercar;
+        if (recognizedType == AdasRecognizedType.classIdCar) {
+            // TODO 这里临时替换模型解决穿模现象
+            return R.raw.tachexiaoche;
         } else if (recognizedType == AdasRecognizedType.classIdTrafficBus) {
             return R.raw.bus;
-        } else if (recognizedType == AdasRecognizedType.classIdBicycle
-                || recognizedType == AdasRecognizedType.classIdMoto) {
+        } else if (recognizedType == AdasRecognizedType.classIdMoto) {
             return R.raw.motorbike;
         } else if (recognizedType == AdasRecognizedType.classIdStopLine) {
             return R.raw.stopline;
         } else if (recognizedType == AdasRecognizedType.classIdWarningArrows) {
             return R.raw.arraw;
-        } else if (recognizedType == AdasRecognizedType.classIdUnKnow) { //todo unKnow物体3D模型
-            return R.raw.othercar;
+        } else if (recognizedType == AdasRecognizedType.classIdUnKnow) {
+            return R.raw.tache;
+        } else if (recognizedType == AdasRecognizedType.classIdBicycle) {
+            return R.raw.zixingche;
+        } else if (recognizedType == AdasRecognizedType.classIdTrafficTruck) {
+            // TODO 这里临时替换模型解决穿模现象
+            return R.raw.daba;
         }
         return R.raw.people;
     }
 
     /**
-     * 根据速度、经纬度计算距离判断车辆颜色
+     * 根据数据源判断车辆预警颜色
      *
-     * @param speed 车速 TODO 这里很可能是adas的策略
-     * @param lon   经度
-     * @param lat   纬度
+     * @param type      车辆类型
+     * @param fromType  数据来源
+     * @param drawLevel 危险等级
      * @return 实际车辆颜色
      */
-    protected String getModelRenderColor(int type, double speed, double lon, double lat, double angle) {
-
+    protected String getModelRenderColor(int type, int fromType, int drawLevel) {
         AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
-        if (recognizedType == AdasRecognizedType.classIdTrafficBus) {
-            return "#D8D8D8FF";
+        if (recognizedType == AdasRecognizedType.classIdUnKnow) {
+            return Car3DModelColor.Normal.color;
         }
-        if (recognizedType == AdasRecognizedType.classIdUnKnow){ //todo unKnow颜色绘制
-            return "#FF2894FF";
-        }
-        // 距离策略
-        double[] coordinates = getCurCoordinates();
-        double distance = CoordinateUtils.calculateLineDistance(lon, lat, coordinates[0], coordinates[1]) * 100;
-        if (distance < 50) {
-            return Car3DModelColor.Dangerous.color;
-        } else if (distance < 100 && distance >= 50) {
-            return Car3DModelColor.Warming.color;
-        }
-
-//         他车车速和自车车速对比速度策略
-//         自车速度 >= 50% 危险
-//         10% < 自车速度 < 50% 警告
-        double curSpeed = getCurSpeed();
-        if (curSpeed > 0 && speed > curSpeed) {
-            double rate = ((speed - curSpeed) / curSpeed) * 100;
-            if (rate >= 50) {
-                return Car3DModelColor.Dangerous.color;
-            } else if (rate > 10 && rate < 50) {
-                return Car3DModelColor.Warming.color;
+        if (fromType == FROM_ADAS) {
+            switch (drawLevel) {
+                case 1:
+                    return Car3DModelColor.Normal.color;
+                case 2:
+                    return Car3DModelColor.Warming.color;
+                case 3:
+                    return Car3DModelColor.Dangerous.color;
+                default:
+                    return Car3DModelColor.Error.color;
             }
         }
-
-        // 默认颜色
         return Car3DModelColor.Normal.color;
     }
 
@@ -286,10 +261,10 @@ class BaseDrawer {
      *
      * @return isCurSpeed
      */
-    private double getCurSpeed() {
+    protected double getCurSpeed() {
         double speed = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastSpeed();
         if (speed <= 0) {
-            speed = SnapshotLocationController.getInstance().getCurSpeed();
+            speed = SnapshotLocationDataCenter.getInstance().getCurSpeed();
         }
         return speed;
     }
@@ -297,20 +272,32 @@ class BaseDrawer {
     /**
      * 返回当前自车经纬度
      *
-     * @return
+     * @return 0:lon 1:lat
      */
-    private double[] getCurCoordinates() {
+    protected double[] getCurCoordinates() {
         double[] coordinates = {
                 MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(),
                 MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
         };
         if (coordinates[0] <= 0) {
-            coordinates[0] = SnapshotLocationController.getInstance().getCurLon();
-            coordinates[1] = SnapshotLocationController.getInstance().getCurLat();
+            coordinates[0] = SnapshotLocationDataCenter.getInstance().getCurLon();
+            coordinates[1] = SnapshotLocationDataCenter.getInstance().getCurLat();
         }
         return coordinates;
     }
 
+    /**
+     * 返回当前自车SNTP时间
+     *
+     * @return SNTP时间
+     */
+    protected long getCurSatelliteTime() {
+        String satelliteTime = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getSatelliteTime();
+        if (TextUtils.isEmpty(satelliteTime)) {
+            return System.currentTimeMillis();
+        }
+        return Long.parseLong(satelliteTime);
+    }
 
     /**
      * 模型颜色
@@ -319,26 +306,26 @@ class BaseDrawer {
 
         Normal("#D8D8D8FF"),
         Warming("#FFD53EFF"),
-        Dangerous("#FF3C45FF");
+        Dangerous("#FF3C45FF"),
+        Error("#00000000");
 
         private final String color;
 
         Car3DModelColor(String color) {
             this.color = color;
         }
-    }
 
-    private TextView mSpeedView = null;
+    }
 
     /**
      * 展示车辆速度
      *
-     * @param context    上下文
      * @param mogoMarker {@link IMogoMarker}
      * @param speed      是否显示速度
      * @param isVrMode   是否是vrMode
      */
-    public void showSelfSpeed(Context context, IMogoMarker mogoMarker, double speed, boolean isVrMode) {
+    public static void showSelfSpeed(IMogoMarker mogoMarker, double speed, String uuid, int type, double heading, boolean isVrMode) {
+        Log.d("EmArrow", "showSelf uuid : " + uuid + "   speed : " + speed);
         if (mogoMarker == null || mogoMarker.isDestroyed()) {
             return;
         }
@@ -347,26 +334,15 @@ class BaseDrawer {
             return;
         }
         int speedIntVal = (int) (speed * 3.6);
-        if (speedIntVal <= 0) {
+        if (speedIntVal <= 0) {  //速度为0 隐藏InfoWindow
             mogoMarker.hideInfoWindow();
             return;
         }
-        String speedVal = speedIntVal + "";
-        String infoResName = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getMarkerInfoResName(speedVal);
         mogoMarker.setInfoWindowOffset(0, 20);
-        if (TextUtils.isEmpty(infoResName)) {
-            if (mSpeedView == null) {
-                mSpeedView = new TextView(context);
-                mSpeedView.setTextColor(Color.WHITE);
-                mSpeedView.setTypeface(Typeface.defaultFromStyle(Typeface.BOLD));
-                mSpeedView.setLayoutParams(new ViewGroup.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT));
-            }
-            mSpeedView.setText(speedVal);
-            mogoMarker.updateInfoWindowView(mSpeedView);
-            MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().setMarkerInfoResName(speedVal, mogoMarker.getMarkerInfoResName());
-        } else {
-            mogoMarker.updateInfoWindowView(infoResName);
-        }
+//        String text = "speed : " + speedIntVal + "\n" + uuid + "\n" + "type : " + type + "\n" + "heading : " + heading;
+        String text = uuid + " ， " + (int) heading;
+        mSpeedView.setText(text);
+        mogoMarker.updateInfoWindowView(mSpeedView);
     }
 
     /**
@@ -395,8 +371,8 @@ class BaseDrawer {
     /**
      * 缓存绘制 marker 的 id 和 marker 资源缓存的 md5 的关系
      *
-     * @param id
-     * @param marker
+     * @param id     缓存资源ID
+     * @param marker {@link IMogoMarker}
      */
     protected static void cacheMarkerIconResMd5Val(String id, IMogoMarker marker) {
         if (marker == null || marker.isDestroyed()) {
@@ -412,11 +388,11 @@ class BaseDrawer {
     /**
      * 道路匹配到车道中心点
      *
-     * @param lon
-     * @param lat
-     * @param angle
-     * @param isRtk
-     * @return
+     * @param lon   经度
+     * @param lat   纬度
+     * @param angle 方向角
+     * @param isRtk 是否是RTK
+     * @return 匹配经纬度值
      */
     public double[] matchRoad(String id, double lon, double lat, double angle, boolean isRtk) {
         final long start = System.currentTimeMillis();
@@ -432,25 +408,27 @@ class BaseDrawer {
     /**
      * 清理缓存路段数据
      *
-     * @param id
+     * @param id 缓存数据Key
      */
     public static void clearRoadCacheById(String id) {
         MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().clearRoadCacheById(id);
     }
 
     /**
-     * 使用系统时间或卫星时间计算出动画的运动时间
+     * 使用系统时间或卫星时间计算出动画的运动时间，最小值45，防止两个点距离过近设置的最小动画执行时间
      *
-     * @param lastSystemTime
-     * @param curSystemTime
-     * @param lastSatelliteTime
-     * @param curSatelliteTime
-     * @return
+     * @param lastSatelliteTime 上一个点SNTP时间，精确值
+     * @param curSatelliteTime  当前点SNTP时间，精确值
+     * @return 动画运动时间
      */
-    public long computeAnimDuration(long lastSystemTime, long curSystemTime, long lastSatelliteTime, long curSatelliteTime) {
-        long systemTimeInterval = curSystemTime - lastSystemTime;
-        long satelliteTimeInterval = curSatelliteTime - lastSatelliteTime;
-        long interval = systemTimeInterval < satelliteTimeInterval || satelliteTimeInterval == 0 ? systemTimeInterval : satelliteTimeInterval;
+    public long computeAnimDuration(long lastSatelliteTime, long curSatelliteTime) {
+        if (lastSatelliteTime == 0 || curSatelliteTime == 0) {
+            Log.d("ADAS动画数据", "卫星时间存在错误");
+            return 45;
+        }
+        long interval = curSatelliteTime - lastSatelliteTime;
+        Log.d("ADAS动画数据", "lastSatelliteTime : " + lastSatelliteTime +
+                "   ----   curSatelliteTime : " + curSatelliteTime + "  =====   插值 ： " + interval);
         if (interval < 45) {
             interval = 45;
         }
@@ -460,13 +438,13 @@ class BaseDrawer {
     /**
      * 根据位置信息、车头朝向计算道路吸附
      *
-     * @param id
-     * @param lon
-     * @param lat
-     * @param heading
-     * @param lastLon
-     * @param lastLat
-     * @return
+     * @param id      UUID
+     * @param lon     经度
+     * @param lat     纬度
+     * @param heading 方向角
+     * @param lastLon 上一个点经度
+     * @param lastLat 上一个点纬度
+     * @return 匹配经纬度
      */
     protected double[] getMatchLonLat(String id, double lon, double lat, double heading, double lastLon, double lastLat) {
         double[] matchedPoint = matchRoad(id, lon,
@@ -475,7 +453,7 @@ class BaseDrawer {
                 true
         );
 
-        boolean match = false;
+        boolean match;
         if (matchedPoint != null) {
 //            Logger.d( TAG, "matchPoint %s distance = %s",lineCounter, matchedPoint[2] );
             match = matchedPoint[2] < 1 && matchedPoint[2] > 0;

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java

@@ -1,11 +1,17 @@
 package com.mogo.module.common.drawer;
 
-import android.os.Message;
+import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_DATA;
+
+import android.os.Build;
 import android.text.TextUtils;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.widget.ImageView;
 
+import com.mogo.cloud.commons.utils.CoordinateUtils;
+import com.mogo.cloud.socket.entity.SocketDownData;
+import com.mogo.cloud.socket.entity.SocketDownDataHelper;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.marker.IMogoMarker;
@@ -15,9 +21,8 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.R;
 import com.mogo.module.common.api.CallChatApi;
 import com.mogo.module.common.constants.DataTypes;
-import com.mogo.module.common.utils.SimpleHandlerThreadPool;
-import com.mogo.realtime.entity.CloudRoadData;
-import com.mogo.realtime.entity.MogoSnapshotSetData;
+import com.mogo.module.common.utils.Trigonometric;
+import com.mogo.service.adas.IMogoADASController;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
 import com.mogo.utils.ViewUtils;
@@ -26,11 +31,11 @@ import com.zhidao.carchattingprovider.ICarsChattingProvider;
 import com.zhidao.carchattingprovider.MogoDriverInfo;
 
 import java.util.ArrayList;
-import java.util.HashMap;
 import java.util.Iterator;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;
 
 /**
  * @author congtaowang
@@ -50,13 +55,13 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
         super();
         MogoApisHandler.getInstance().getApis()
                 .getStatusManagerApi()
-                .registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, this );
+                .registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, this);
     }
 
     public static SnapshotSetDataDrawer getInstance() {
-        if ( sInstance == null ) {
-            synchronized ( SnapshotSetDataDrawer.class ) {
-                if ( sInstance == null ) {
+        if (sInstance == null) {
+            synchronized (SnapshotSetDataDrawer.class) {
+                if (sInstance == null) {
                     sInstance = new SnapshotSetDataDrawer();
                 }
             }
@@ -68,41 +73,34 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
         sInstance = null;
     }
 
-    private Object readResolve() {
-        // 阻止反序列化，必须实现 Serializable 接口
-        return sInstance;
-    }
+    /**
+     * 上一帧数据的缓存
+     */
+    private static final Map<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
 
-    private final Map< String, CloudRoadData > mLastPositions = new ConcurrentHashMap<>();
-
-    private boolean mIsVrMode = false;
+    private final Map<String, SocketDownData.CloudRoadDataProto> mLastPositions = new ConcurrentHashMap<>();
 
     /**
      * 注册StatusDescriptor.VR_MODE类型，VR_MODE状态改变回调
+     *
      * @param descriptor 状态类型
      * @param isTrue     true - accOn、adas ui show、voice ui show、push ui show、v2x ui show
      */
     @Override
-    public void onStatusChanged( StatusDescriptor descriptor, boolean isTrue ) {
-        Logger.d( TAG, "%s - %s", descriptor, isTrue );
+    public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
+        Logger.d(TAG, "%s - %s", descriptor, isTrue);
         mChangeCarModeStatus = true;
-        sendMessage( MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches );
-        mMarkersCaches = new HashMap<>();
-        if ( mLastPositions != null ) {
-            mLastPositions.clear();
-        }
+        sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
+        removeUselessMarker(mMarkersCaches);
+        mLastPositions.clear();
         AdasRecognizedResultDrawer.getInstance().notifyVrModeChanged(); //清除ADAS old marker data
     }
 
-    public boolean isVrMode() {
-        return mIsVrMode;
-    }
-
     public boolean isChangeCarModeStatus() {
         return mChangeCarModeStatus;
     }
 
-    public void setChangeCarModeStatus( boolean mChangeCarModeStatus ) {
+    public void setChangeCarModeStatus(boolean mChangeCarModeStatus) {
         this.mChangeCarModeStatus = mChangeCarModeStatus;
     }
 
@@ -112,240 +110,279 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
      * @param data 自车周边数据
      * @return 清除结果
      */
-    private boolean clear( MogoSnapshotSetData data ) {
-        if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched() ) {
-            if ( mMarkersCaches == null ) {
+    private boolean clear(SocketDownData.LauncherSnapshotProto data) {
+        if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched()) {
+            if (mMarkersCaches == null) {
                 return false;
             }
-            if ( mMarkersCaches != null ) {
-                mMarkersCaches.clear();
-            }
-            if ( mLastPositions != null ) {
-                mLastPositions.clear();
-            }
-            sendMessage( MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_CLOUD_DATA );
+            mMarkersCaches.clear();
+            mLastPositions.clear();
+            sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_CLOUD_DATA);
             return true;
         }
-        if ( data == null || (
-                ( data.getAllList() == null || data.getAllList().isEmpty() ) &&
-                        ( data.getNearList() == null || data.getNearList().isEmpty() ) ) ) {
-            if ( mMarkersCaches != null ) {
+        if (data == null || (
+                (data.getAllListList() == null || data.getAllListList().isEmpty()) &&
+                        (data.getNearListList() == null || data.getNearListList().isEmpty()))) {
+            if (mMarkersCaches != null) {
                 mMarkersCaches.clear();
             }
-            if ( mLastPositions != null ) {
-                mLastPositions.clear();
-            }
-            sendMessage( MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_CLOUD_DATA );
+            mLastPositions.clear();
+            sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_CLOUD_DATA);
             return true;
         }
         return false;
     }
 
     /**
-     * mogo 他车、mogo 他车识别的社会车辆、路边单元识别的车辆
+     * 绘制来自云端的 mogo 他车、mogo 他车识别的社会车辆、路边单元识别的车辆
      *
      * @param data 自车周边数据
      */
-    public void renderSnapshotData( MogoSnapshotSetData data ) {
-
-        if ( clear( data ) ) {
+    public void renderSnapshotData(SocketDownData.LauncherSnapshotProto data) {
+        final long start = System.nanoTime();
+        if (clear(data)) {
             return;
         }
 
-        List< CloudRoadData > allDatumsList = new ArrayList<>();
-        prepareData( data.getAllList(), allDatumsList );
+        if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            return;
+        }
 
-        Map< String, IMogoMarker > newMarkersCaches = new HashMap<>( allDatumsList.size() );
-        List< CloudRoadData > newDiffSet = new ArrayList<>();
+        List<SocketDownData.CloudRoadDataProto> allDatumsList = new ArrayList<>();
+        prepareData(data.getAllListList(), allDatumsList);
 
-        for ( CloudRoadData cloudRoadData : allDatumsList ) {
-            if ( isUselessValue( cloudRoadData ) ) {
+        Map<String, IMogoMarker> newMarkersCaches = new ConcurrentHashMap<>(allDatumsList.size());
+        List<SocketDownData.CloudRoadDataProto> newDiffSet = new ArrayList<>();
+        for (SocketDownData.CloudRoadDataProto cloudRoadData : allDatumsList) {
+
+            if (isUselessValue(cloudRoadData)) {
                 continue;
             }
-            String uniqueKey = cloudRoadData.getUniqueKey();
-            IMogoMarker marker = mMarkersCaches.remove( uniqueKey );
-            if ( marker != null && !marker.isDestroyed() ) {
-                renderSnapshotOneFrame( marker, uniqueKey, cloudRoadData, newMarkersCaches );
+            String uniqueKey = cloudRoadData.getUuid();
+            IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
+            if (marker != null && !marker.isDestroyed()) {
+                updateCacheMarkerRes(marker, cloudRoadData);
+                renderSnapshotOneFrame(marker, uniqueKey, cloudRoadData, newMarkersCaches);
             } else {
-                newDiffSet.add( cloudRoadData );
+                newDiffSet.add(cloudRoadData);
             }
         }
-
-        removeUselessMarker();
-
-        // 能复用的 marker 数量
-        int cachedMarkerSize = mMarkersCaches.size();
         // 需要新增的 marker 数量
         int newDiffSetSize = newDiffSet.size();
-        // 能复用的数量
-        int size = Math.min(cachedMarkerSize, newDiffSetSize);
-
         // 复用过期 marker
-        if ( newDiffSetSize > 0 ) {
-            Iterator< Map.Entry< String, IMogoMarker > > entryIterator = mMarkersCaches.entrySet().iterator();
-            for ( int i = 0; i < size; i++ ) {
-                CloudRoadData cloudRoadData = newDiffSet.get( i );
-                String uniqueKey = cloudRoadData.getUniqueKey();
-                Map.Entry< String, IMogoMarker > entry = entryIterator.next();
-                entryIterator.remove();
-                CloudRoadData old = mLastPositions.remove( entry.getKey() );
-                IMogoMarker marker = entry.getValue();
-                if ( marker == null ) {
-                    continue;
-                }
-
-                // 更新资源内容
-                if ( old == null || old.getType() != cloudRoadData.getType() ) {
-                    String resIdVal;
-                    int resId = getModelRes( cloudRoadData.getType() );
-                    resIdVal = resId + "";
-                    String resName = mMarkerCachesResMd5Values.get( resIdVal );
-                    if ( !TextUtils.isEmpty( resName ) ) {
-                        if ( !TextUtils.equals( resName, marker.getMarkerResName() ) ) {
-                            marker.use3DResource( resName );
-                        }
-                    } else {
-                        resName = marker.use3DResource( resId );
-                        mMarkerCachesResMd5Values.put( resIdVal, resName );
-                    }
-                }
-
-                renderSnapshotOneFrame( marker, uniqueKey, cloudRoadData, newMarkersCaches );
-            }
-
+        if (newDiffSetSize > 0) {
             // 复用过后还需新增的 marker
-
-            for ( int i = size; i < newDiffSetSize; i++ ) {
-                CloudRoadData cloudRoadData = newDiffSet.get( i );
-                String uniqueKey = cloudRoadData.getUniqueKey();
-                IMogoMarker marker = drawSnapshotDataMarker( cloudRoadData );
-                if ( marker == null ) {
+            for (int i = 0; i < newDiffSetSize; i++) {
+                SocketDownData.CloudRoadDataProto cloudRoadData = newDiffSet.get(i);
+                String uniqueKey = cloudRoadData.getUuid();
+                IMogoMarker marker = drawSnapshotDataMarker(cloudRoadData);
+                if (marker == null) {
                     continue;
                 }
-                renderSnapshotOneFrame( marker, uniqueKey, cloudRoadData, newMarkersCaches );
+                renderSnapshotOneFrame(marker, uniqueKey, cloudRoadData, newMarkersCaches);
             }
         }
-        if ( cachedMarkerSize - size > 0 ) {
-            sendMessage( MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches );
+        mMarkersCaches.putAll(newMarkersCaches);
+        // 移除超时 marker
+        delayRemoveUselessMarker();
+        removeUselessLastRecord();
+        Log.d("云端数据延时绘制", "render 接收数据 -> 处理结束 " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
+    }
+
+    /**
+     * todo 后面涉及到此类变化的数据均改动
+     *
+     * @param marker             {@link IMogoMarker}
+     * @param cloudRoadDataProto {@link SocketDownData.CloudRoadDataProto}
+     */
+    private void updateCacheMarkerRes(IMogoMarker marker, SocketDownData.CloudRoadDataProto cloudRoadDataProto) {
+        String resIdVal;
+        int resId = getModelRes(cloudRoadDataProto.getType());
+        resIdVal = resId + "";
+        String resName = mMarkerCachesResMd5Values.get(resIdVal);
+        if (!TextUtils.isEmpty(resName)) {
+            if (!TextUtils.equals(resName, marker.getMarkerResName())) {
+                marker.use3DResource(resName);
+            }
+        } else {
+            resName = marker.use3DResource(resId);
+            mMarkerCachesResMd5Values.put(resIdVal, resName);
         }
+    }
 
-        sendMessage( MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches );
-        mMarkersCaches = newMarkersCaches;
+    private void delayRemoveUselessMarker() {
+        if (mMarkersCaches.isEmpty()) {
+            return;
+        }
+        IMogoADASController adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
+        if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime())) {
+            return;
+        }
+        Iterator<IMogoMarker> iterator = mMarkersCaches.values().iterator();
+        while (iterator.hasNext()) {
+            IMogoMarker result = iterator.next();
+            SocketDownData.CloudRoadDataProto proto = ((SocketDownData.CloudRoadDataProto) result.getObject());
+            if(proto == null){ // 后续有业务数据在操作，更新数据，不做处理
+                continue;
+            }
+            long internal = Long.parseLong(adasControllerApi.getSatelliteTime()) - proto.getSatelliteTime();
+            Log.d("MogoArrow", "delayRemoveUselessMarker  uuid : " + proto.getUuid()
+                    + "  localTime :  " + adasControllerApi.getSatelliteTime()
+                    + "  originTime : " + proto.getSatelliteTime()
+                    + "  internal  : " + internal);
+            if (internal > 5000) {
+                iterator.remove();
+                result.destroy();
+            }
+        }
+    }
 
+    private void removeUselessLastRecord() {  // todo 最好重新设计一个数据结构，用于多线程数据过期失效的场景，参见redis数据过期
+        if (mLastPositions.isEmpty()) {
+            return;
+        }
+        IMogoADASController adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
+        if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime()) || adasControllerApi.getSatelliteTime().equals("0")) {
+            return;
+        }
+        Iterator<SocketDownData.CloudRoadDataProto> iterator = mLastPositions.values().iterator();
+        Log.d("EmArrow", "removeUselessLastRecord size : " + mLastPositions.size());
+        while (iterator.hasNext()) {
+            SocketDownData.CloudRoadDataProto result = iterator.next();
+            long internal = Long.parseLong(adasControllerApi.getSatelliteTime()) - result.getSatelliteTime();
+            if (internal > 3000) {
+                iterator.remove();
+            }
+        }
     }
 
     /**
      * 判断类型、uuid 等
      *
-     * @param cloudRoadData {@link CloudRoadData}
+     * @param cloudRoadData {@link  SocketDownData.CloudRoadDataProto}
      * @return isUselessValue
      */
-    private boolean isUselessValue( CloudRoadData cloudRoadData ) {
-        if ( cloudRoadData == null ) {
+    private boolean isUselessValue(SocketDownData.CloudRoadDataProto cloudRoadData) {
+        if (cloudRoadData == null) {
             return true;
         }
-        if ( !isRenderType( cloudRoadData.getType() ) ) {
+        if (nonRenderType(cloudRoadData.getType())) {
             return true;
         }
 
-        String uniqueKey = cloudRoadData.getUniqueKey();
+        String uniqueKey = cloudRoadData.getUuid();
         return TextUtils.isEmpty(uniqueKey);
     }
 
     /**
      * 绘制某个物体的一个数据
      *
-     * @param cloudRoadData {@link CloudRoadData}
+     * @param cloudRoadData     {@link  SocketDownData.CloudRoadDataProto}
      * @param newSnapshotCaches 缓存数据
      */
-    private void renderSnapshotOneFrame( IMogoMarker marker, String uniqueKey, final CloudRoadData cloudRoadData, Map< String, IMogoMarker > newSnapshotCaches ) {
+    private void renderSnapshotOneFrame(IMogoMarker marker, String uniqueKey, SocketDownData.CloudRoadDataProto cloudRoadData, Map<String, IMogoMarker> newSnapshotCaches) {
+        final long start = System.nanoTime();
+        SocketDownData.CloudRoadDataProto lastPosition = mLastPositions.remove(uniqueKey);
+        // 道路吸附
+//        double lastLon = -1;
+//        double lastLat = -1;
+//        if (lastPosition != null) {
+//            lastLon = lastPosition.getWgslon();
+//            lastLat = lastPosition.getWgslat();
+//        }
+//        double[] matchLonLat = getMatchLonLat(cloudRoadData.getUuid(), cloudRoadData.getWgslon(), cloudRoadData.getWgslat(), cloudRoadData.getHeading(), lastLon, lastLat);
+//        SocketDownData.CloudRoadDataProto.Builder builder = cloudRoadData.toBuilder();
+//        builder.setWgslon(matchLonLat[0]);
+//        builder.setWgslat(matchLonLat[1]);
+//        cloudRoadData = builder.build();
 
-        final long start = System.currentTimeMillis();
-
-        CloudRoadData lastPosition = mLastPositions.remove( uniqueKey );
-
-        double lastLon = -1;
-        double lastLat = -1;
-        if ( lastPosition != null ) {
-            lastLon = lastPosition.getWgslon();
-            lastLat = lastPosition.getWgslat();
-        }
-        double[] matchLonLat = getMatchLonLat( cloudRoadData.getUniqueKey(), cloudRoadData.getWgslon(), cloudRoadData.getWgslat(), cloudRoadData.getHeading(), lastLon, lastLat );
-        cloudRoadData.setWgslon( matchLonLat[0] );
-        cloudRoadData.setWgslat( matchLonLat[1] );
-
-        mLastPositions.put( uniqueKey, cloudRoadData );
-
-        newSnapshotCaches.put( uniqueKey, marker );
-        if ( lastPosition != null ) {
-            long interval = computeAnimDuration( lastPosition.getSystemTime(), cloudRoadData.getSystemTime(), lastPosition.getSatelliteTime(), cloudRoadData.getSatelliteTime() );
-
-            final MogoLatLng point = new MogoLatLng( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() );
-            long cost = System.currentTimeMillis() - start;
-            final long intervalRef = interval - cost;
-
-            SimpleHandlerThreadPool.getInstance().postRender( () -> marker.addDynamicAnchorPosition( point, ( float ) cloudRoadData.getHeading(), intervalRef ));
-        } else {
-            marker.setRotateAngle( ( ( float ) cloudRoadData.getHeading() ) );
-            marker.setPosition( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() );
-        }
-
-        marker.setAnchorColor( getModelRenderColor( cloudRoadData.getType(), cloudRoadData.getSpeed(), cloudRoadData.getWgslon(), cloudRoadData.getWgslat(), cloudRoadData.getHeading() ) );
-
-        if ( shouldShowSpeed( cloudRoadData.getType() ) ) {
-            Message msg = mRenderThreadHandler.obtainMessage();
-            SpeedData obj = new SpeedData();
-            obj.context = mContext;
-            obj.marker = marker;
-            obj.speed = cloudRoadData.getSpeed();
-            msg.obj = obj;
-            msg.what = MSG_DISPLAY_SPEED;
-            msg.sendToTarget();
+        mLastPositions.put(uniqueKey, cloudRoadData);
+        long interval = 45;
+        if (lastPosition != null) {
+            interval = computeAnimDuration(lastPosition.getSatelliteTime(), cloudRoadData.getSatelliteTime());
         }
+        final MogoLatLng point = new MogoLatLng(cloudRoadData.getWgslat(), cloudRoadData.getWgslon());
+        long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
+        final long intervalRef = interval - cost;
+        marker.addDynamicAnchorPosition(point, (float) cloudRoadData.getHeading(), intervalRef);
+        marker.setAnchorColor(getModelRenderColor(cloudRoadData.getType(), cloudRoadData.getFromType(), 1));
+        newSnapshotCaches.put(uniqueKey, marker);
+//        if (shouldShowSpeed(cloudRoadData.getType())) {
+//            Message msg = mRenderThreadHandler.obtainMessage();
+//            msg.obj = new SpeedData(marker
+//                    , cloudRoadData.getSpeed()
+//                    , cloudRoadData.getUuid()
+//                    , cloudRoadData.getType()
+//                    , cloudRoadData.getHeading()
+//                    , MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
+//            msg.what = MSG_DISPLAY_SPEED;
+//            msg.sendToTarget();
+//        }
+        Log.d("云端数据延时", "render 刷新一台车 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
     }
 
     /**
-     * 过滤数据
+     * 过滤数据,对数据补点
      *
      * @param in  输入集合
      * @param out 输出集合
      */
-    private void prepareData( List< CloudRoadData > in, List< CloudRoadData > out ) {
-        filterData( in );
-        out.addAll( in );
+    private void prepareData(List<SocketDownData.CloudRoadDataProto> in, List<SocketDownData.CloudRoadDataProto> out) {
+//        foreCastPoint(in, out);
+        out.addAll(in);
     }
 
+    private final static String FORECAST = "snapshotForecast";
+
     /**
-     * vr 模式下显示合并数据，否则只显示 mogo 车辆上报的数据
+     * 基于云平台下发的数据点速度预测当前位置和距离自车距离
      *
-     * @param data 道路数据集合
+     * @param in 数据源
      */
-    private void filterData( List< CloudRoadData > data ) {
-        if ( data == null || data.isEmpty() ) {
-            return;
-        }
-        if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
-            return;
-        }
-        List< CloudRoadData > newList = new ArrayList<>();
-        for ( CloudRoadData cloudRoadData : data ) {
-            if ( cloudRoadData.getFromType() != CloudRoadData.FROM_MY_LOCATION ) {
-                continue;
+    private void foreCastPoint(List<SocketDownData.CloudRoadDataProto> in, List<SocketDownData.CloudRoadDataProto> out) {
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
+            for (SocketDownData.CloudRoadDataProto proto : in) {
+                SocketDownData.CloudRoadDataProto.Builder builder = proto.toBuilder();
+                Log.d(FORECAST, "ready to foreCast current uuid : " + proto.getUuid());
+                long internal = getCurSatelliteTime() - builder.getSatelliteTime();
+                if (internal <= 0) {
+                    Log.d(FORECAST, "time internal less than 0 , uuid : " + proto.getUuid());
+                    out.add(proto);
+                    continue;
+                }
+                long startTime = System.currentTimeMillis();
+                // 预测点
+                Log.d(FORECAST, "time internal : " + internal + " speed : " + proto.getSpeed());
+                double foreCastDistance = proto.getSpeed() * internal / 1000;
+                Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
+                MogoLatLng mogoLatLng = new MogoLatLng(proto.getWgslat(), proto.getWgslon());
+                MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, proto.getHeading());
+
+                // 计算与自车距离
+                float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
+                        , foreCastMogoLatLon.getLon(), foreCastMogoLatLon.getLat());
+
+                long foreCastInternal = System.currentTimeMillis() - startTime;
+                Log.d(FORECAST, "foreCastInternal :" + foreCastInternal);  //todo 耗时1~2毫秒 需要测试是否由于补点算法造成
+
+                builder.setWgslat(foreCastMogoLatLon.getLat());
+                builder.setWgslon(foreCastMogoLatLon.getLon());
+                builder.setSatelliteTime(getCurSatelliteTime() - foreCastInternal);
+                builder.setDistance(distanceFromSelf);
+                proto = builder.build();
+                out.add(proto);
             }
-            newList.add( cloudRoadData );
         }
-        data.clear();
-        data.addAll( newList );
     }
 
     /**
      * 绑定点击事件
      */
-    public void bindClickListener( IMogoMarker marker ) {
-        if ( marker == null || marker.isDestroyed() ) {
+    public void bindClickListener(IMogoMarker marker) {
+        if (marker == null || marker.isDestroyed()) {
             return;
         }
-        marker.setOnMarkerClickListener( this );
+        marker.setOnMarkerClickListener(this);
     }
 
     /**
@@ -354,45 +391,46 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
      * @param data 道路数据
      * @return {@link IMogoMarker}
      */
-    public IMogoMarker drawSnapshotDataMarker( CloudRoadData data ) {
-        if ( data == null ) {
+    public IMogoMarker drawSnapshotDataMarker(SocketDownData.CloudRoadDataProto data) {
+        long start = System.nanoTime();
+        if (data == null) {
             return null;
         }
 
         MogoMarkerOptions options = new MogoMarkerOptions()
-                .owner( DataTypes.TYPE_MARKER_CLOUD_DATA )
-                .anchor( 0.5f, 0.5f )
-                .rotate( ( float ) data.getHeading() )
-                .object( data )
-                .gps( true )
-                .controlAngle( true )
-                .position( new MogoLatLng( data.getWgslat(), data.getWgslon() ) );
+                .owner(TYPE_MARKER_CLOUD_DATA)
+                .anchor(0.5f, 0.5f)
+                .rotate((float) data.getHeading())
+                .object(data)
+                .gps(true)
+                .controlAngle(true)
+                .position(new MogoLatLng(data.getWgslat(), data.getWgslon()));
         String resIdVal;
-        if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
-            options.set3DMode( true );
-            options.anchorColor( getModelRenderColor( data.getType(), data.getSpeed(), data.getWgslon(), data.getWgslat(), data.getHeading() ) );
-            int resId = getModelRes( data.getType() );
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            options.set3DMode(true);
+            options.anchorColor(getModelRenderColor(data.getType(), data.getFromType(), 1));
+            int resId = getModelRes(data.getType());
             resIdVal = resId + "";
-            options.resName( mMarkerCachesResMd5Values.get( resIdVal ) );
-            options.icon3DRes( resId );
+            options.resName(mMarkerCachesResMd5Values.get(resIdVal));
+            options.icon3DRes(resId);
         } else {
-            options.set3DMode( false );
-            View view = inflateView( data );
-            options.icon( view );
+            options.set3DMode(false);
+            View view = inflateView(data);
+            options.icon(view);
             resIdVal = view.getId() + "";
         }
-        IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_CLOUD_DATA, options );
-        cacheMarkerIconResMd5Val( resIdVal, marker );
+        IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(TYPE_MARKER_CLOUD_DATA, options);
+        cacheMarkerIconResMd5Val(resIdVal, marker);
 
-        if ( !TextUtils.isEmpty( data.getSn() ) ) {
-            bindClickListener( marker );
+        if (!TextUtils.isEmpty(data.getSn())) {
+            bindClickListener(marker);
         }
-
+        Log.d("云端数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
         return marker;
     }
 
-    public String get3DCacheId( String resIdVal ) {
-        return mMarkerCachesResMd5Values.get( resIdVal );
+    public String get3DCacheId(String resIdVal) {
+        return mMarkerCachesResMd5Values.get(resIdVal);
     }
 
     /**
@@ -401,12 +439,12 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
      * @param data 道路数据
      * @return marker
      */
-    public View inflateView( CloudRoadData data ) {
-        View rootView = LayoutInflater.from( AbsMogoApplication.getApp() ).inflate( R.layout.module_commons_layout_car, null );
-        ImageView iv = rootView.findViewById( R.id.module_commons_marker_car_model );
-        int viewIdLike = get2DModel( data );
-        iv.setImageResource( viewIdLike );
-        rootView.setId( viewIdLike );
+    public View inflateView(SocketDownData.CloudRoadDataProto data) {
+        View rootView = LayoutInflater.from(AbsMogoApplication.getApp()).inflate(R.layout.module_commons_layout_car, null);
+        ImageView iv = rootView.findViewById(R.id.module_commons_marker_car_model);
+        int viewIdLike = get2DModel(data);
+        iv.setImageResource(viewIdLike);
+        rootView.setId(viewIdLike);
         return rootView;
     }
 
@@ -416,71 +454,71 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
      * @param data 道路数据
      * @return 2D贴图id
      */
-    private int get2DModel( CloudRoadData data ) {
-        switch ( data.getFromType() ) {
-            case CloudRoadData.FROM_ADAS:
-            case CloudRoadData.FROM_ROAD_UNIT:
-            case CloudRoadData.FROM_MY_LOCATION:
+    private int get2DModel(SocketDownData.CloudRoadDataProto data) {
+        switch (data.getFromType()) {
+            case SocketDownDataHelper.FROM_ADAS:
+            case SocketDownDataHelper.FROM_ROAD_UNIT:
+            case SocketDownDataHelper.FROM_MY_LOCATION:
             default:
                 return R.drawable.icon_map_marker_car_gray;
         }
     }
 
     @Override
-    public boolean onMarkerClicked( IMogoMarker marker ) {
-        if ( marker != null && !marker.isDestroyed() ) {
-            if ( marker.getObject() instanceof CloudRoadData ) {
-                showCarCallPanel( ( ( CloudRoadData ) marker.getObject() ) );
+    public boolean onMarkerClicked(IMogoMarker marker) {
+        if (marker != null && !marker.isDestroyed()) {
+            if (marker.getObject() instanceof SocketDownData.CloudRoadDataProto) {
+                showCarCallPanel(((SocketDownData.CloudRoadDataProto) marker.getObject()));
             }
         }
         return true;
     }
 
     /**
-     * 展示用户信息米娜版
+     * 展示用户信息面版
      *
      * @param data 道路数据
      */
-    private void showCarCallPanel( CloudRoadData data ) {
+    private void showCarCallPanel(SocketDownData.CloudRoadDataProto data) {
 
         MogoDriverInfo driverInfo = new MogoDriverInfo();
-        driverInfo.setLat( data.getLat() );
-        driverInfo.setLon( data.getLon() );
-        driverInfo.setSn( data.getSn() );
+        driverInfo.setLat(data.getLat());
+        driverInfo.setLon(data.getLon());
+        driverInfo.setSn(data.getSn());
         ICarsChattingProvider carChatting = CallChatApi.getInstance().getApiProvider();
 
-        if ( carChatting != null ) {
+        if (carChatting != null) {
             try {
-                carChatting.showUserWindow( TAG, driverInfo, mContext );
-            } catch ( Exception e ) {
-                Logger.e( TAG, e, "showCarCallPanel" );
+                carChatting.showUserWindow(TAG, driverInfo, mContext);
+            } catch (Exception e) {
+                Logger.e(TAG, e, "showCarCallPanel");
             }
         }
     }
 
-    public void changeIconResourceIfNecessary( CloudRoadData cloudRoadData, IMogoMarker marker ) {
-        if ( isChangeCarModeStatus() ) {
-            setChangeCarModeStatus( false );
-            if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
-                marker.getMogoMarkerOptions().set3DMode( true );
-                int resId = getModelRes( cloudRoadData.getType() );
-                String resName = get3DCacheId( resId + "" );
-                if ( TextUtils.isEmpty( resName ) ) {
-                    marker.use3DResource( resId );
-                    cacheMarkerIconResMd5Val( resId + "", marker );
+    public void changeIconResourceIfNecessary(SocketDownData.CloudRoadDataProto cloudRoadData, IMogoMarker marker) {
+        if (isChangeCarModeStatus()) {
+            setChangeCarModeStatus(false);
+            if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+                marker.getMogoMarkerOptions().set3DMode(true);
+                int resId = getModelRes(cloudRoadData.getType());
+                String resName = get3DCacheId(resId + "");
+                if (TextUtils.isEmpty(resName)) {
+                    marker.use3DResource(resId);
+                    cacheMarkerIconResMd5Val(resId + "", marker);
                 } else {
-                    marker.use3DResource( resName );
+                    marker.use3DResource(resName);
                 }
             } else {
-                marker.getMogoMarkerOptions().set3DMode( false );
-                View view = inflateView( cloudRoadData );
+                marker.getMogoMarkerOptions().set3DMode(false);
+                View view = inflateView(cloudRoadData);
                 int resId = view.getId();
-                String resName = get3DCacheId( resId + "" );
-                if ( TextUtils.isEmpty( resName ) ) {
-                    marker.setIcon( ViewUtils.fromView( view ) );
-                    cacheMarkerIconResMd5Val( resId + "", marker );
+                String resName = get3DCacheId(resId + "");
+                if (TextUtils.isEmpty(resName)) {
+                    marker.setIcon(ViewUtils.fromView(view));
+                    cacheMarkerIconResMd5Val(resId + "", marker);
                 } else {
-                    marker.use2DResource( resName );
+                    marker.use2DResource(resName);
                 }
             }
         }

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/bean/SpeedData.java

@@ -0,0 +1,73 @@
+package com.mogo.module.common.drawer.bean;
+
+import com.mogo.map.marker.IMogoMarker;
+
+/**
+ * 速度显示对象
+ */
+public class SpeedData {
+
+    public IMogoMarker marker;
+    public double speed;
+    public String uuid;
+    public int type;
+    public double heading;
+    public boolean isVrMode;
+
+    public SpeedData(IMogoMarker marker, double speed, String uuid, int type, double heading, boolean isVrMode) {
+        this.marker = marker;
+        this.speed = speed;
+        this.uuid = uuid;
+        this.type = type;
+        this.heading = heading;
+        this.isVrMode = isVrMode;
+    }
+
+    public IMogoMarker getMarker() {
+        return marker;
+    }
+
+    public void setMarker(IMogoMarker marker) {
+        this.marker = marker;
+    }
+
+    public double getSpeed() {
+        return speed;
+    }
+
+    public void setSpeed(double speed) {
+        this.speed = speed;
+    }
+
+    public String getUuid() {
+        return uuid;
+    }
+
+    public void setUuid(String uuid) {
+        this.uuid = uuid;
+    }
+
+    public int getType() {
+        return type;
+    }
+
+    public void setType(int type) {
+        this.type = type;
+    }
+
+    public double getHeading() {
+        return heading;
+    }
+
+    public void setHeading(double heading) {
+        this.heading = heading;
+    }
+
+    public boolean getIsVrMode() {
+        return isVrMode;
+    }
+
+    public void setIsVrMode(boolean isVrMode) {
+        this.isVrMode = isVrMode;
+    }
+}

modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/live/CameraLiveManager.java

@@ -6,18 +6,18 @@ import android.view.ViewGroup;
 
 import androidx.annotation.Nullable;
 
+import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.extensions.R;
 import com.mogo.module.extensions.live.impl.AbsCameraScenario;
-import com.mogo.realtime.entity.CloudRoadData;
 import com.mogo.service.windowview.IMogoTopViewStatusListener;
 import com.mogo.utils.logger.Logger;
 
 /**
  * 路边摄像头直播控制  V2XPushLiveCarScenario
  */
-public class CameraLiveManager extends AbsCameraScenario<CloudRoadData> implements IMogoTopViewStatusListener {
+public class CameraLiveManager extends AbsCameraScenario<SocketDownData.CloudRoadDataProto> implements IMogoTopViewStatusListener {
     private static final String TAG = "CameraLiveManager";
     private static CameraLiveManager mCameraLiveManager;
     private boolean isShowWindow;
@@ -38,7 +38,7 @@ public class CameraLiveManager extends AbsCameraScenario<CloudRoadData> implemen
     }
 
     @Override
-    public void init(@Nullable CloudRoadData cloudRoadData) {
+    public void init(@Nullable SocketDownData.CloudRoadDataProto cloudRoadData) {
         Log.d(TAG, "CameraLiveManager init -----> isShowWindow = " + isShowWindow);
         if (isShowWindow) {
             close();

modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/live/PushCameraLiveWindow.java

@@ -9,10 +9,10 @@ import android.view.View;
 import android.widget.ImageView;
 import android.widget.RelativeLayout;
 
+import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.extensions.R;
 import com.mogo.module.extensions.live.impl.ICameraWindow;
-import com.mogo.realtime.entity.CloudRoadData;
 import com.mogo.service.imageloader.MogoImageView;
 import com.mogo.utils.logger.Logger;
 
@@ -21,7 +21,7 @@ import com.mogo.utils.logger.Logger;
  * 点击摄像头 marker
  * vr路边摄像头弹窗 V2XPushLiveCarWindow
  */
-public class PushCameraLiveWindow extends RelativeLayout implements ICameraWindow<CloudRoadData> {
+public class PushCameraLiveWindow extends RelativeLayout implements ICameraWindow<SocketDownData.CloudRoadDataProto> {
     private static final String TAG = "PushCameraLiveWindow";
     private CameraLiveGSYVideoView mLiveGSYVideoView;
     private MogoImageView mIvReportHead;
@@ -65,7 +65,7 @@ public class PushCameraLiveWindow extends RelativeLayout implements ICameraWindo
      * 展示直播Windows
      */
     @Override
-    public void show(CloudRoadData entity) {
+    public void show(SocketDownData.CloudRoadDataProto entity) {
         if (entity != null) {
             Logger.w(TAG, "更新直播信息 show entity = " + entity);
             if (!TextUtils.isEmpty(entity.getRtmpUrl())) {
@@ -76,7 +76,7 @@ public class PushCameraLiveWindow extends RelativeLayout implements ICameraWindo
                 mLiveGSYVideoView.startLive(entity.getRtmpUrl());
             }
 
-            countDownV2XEvent(entity);
+            countDownV2XEvent();
         }
     }
 
@@ -99,7 +99,7 @@ public class PushCameraLiveWindow extends RelativeLayout implements ICameraWindo
     /**
      * 窗体倒计时
      */
-    public void countDownV2XEvent(CloudRoadData data) {
+    public void countDownV2XEvent() {
         // 倒计时
         if (runnableV2XEvent == null) {
             runnableV2XEvent = () -> {

modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/live/impl/AbsCameraScenario.java

@@ -2,15 +2,15 @@ package com.mogo.module.extensions.live.impl;
 
 import androidx.annotation.Nullable;
 
-import com.mogo.realtime.entity.CloudRoadData;
+import com.mogo.cloud.socket.entity.SocketDownData;
 
 
 public abstract class AbsCameraScenario<T> implements ICameraScenario {
     protected String TAG = "AbsCameraScenario";
     private ICameraWindow mV2XWindow;
-    private CloudRoadData mCloudRoadData;
+    private SocketDownData.CloudRoadDataProto mCloudRoadData;
 
-    public abstract void init(@Nullable CloudRoadData cloudRoadData);
+    public abstract void init(@Nullable SocketDownData.CloudRoadDataProto cloudRoadData);
 
     @Override
     public void close() {
@@ -27,11 +27,11 @@ public abstract class AbsCameraScenario<T> implements ICameraScenario {
         this.mV2XWindow = mV2XWindow;
     }
 
-    public CloudRoadData getmCloudRoadData() {
+    public SocketDownData.CloudRoadDataProto getmCloudRoadData() {
         return mCloudRoadData;
     }
 
-    public void setmCloudRoadData(CloudRoadData mCloudRoadData) {
+    public void setmCloudRoadData(SocketDownData.CloudRoadDataProto mCloudRoadData) {
         this.mCloudRoadData = mCloudRoadData;
     }
 

modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java

@@ -7,12 +7,11 @@ import android.content.IntentFilter;
 import android.os.Handler;
 import android.os.Message;
 
+import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.map.location.IMogoLocationListener;
 import com.mogo.map.location.MogoLocation;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.extensions.navi.VrModeNavInfoView;
-import com.mogo.realtime.api.MoGoAiCloudRealTime;
-import com.mogo.realtime.entity.MogoSnapshotSetData;
 import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
 import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
 import com.mogo.service.adas.MogoADASWarnType;
@@ -203,7 +202,8 @@ public class AdasNoticeHelper implements IMogoAdasWarnMessageCallback, IMogoLoca
     }
 
     @Override
-    public void onMsgReceived(MogoSnapshotSetData obj) {
+    public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
 
     }
+
 }

modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/CameraLiveNoticeHelper.java

@@ -6,6 +6,7 @@ import android.graphics.BitmapFactory;
 import android.text.TextUtils;
 import android.util.Log;
 
+import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.IMogoMarkerClickListener;
@@ -16,8 +17,6 @@ import com.mogo.module.extensions.live.CameraLiveManager;
 import com.mogo.module.extensions.live.CameraWindow3DAdapter;
 import com.mogo.module.extensions.live.PushDataType;
 import com.mogo.realtime.api.MoGoAiCloudRealTime;
-import com.mogo.realtime.entity.CloudRoadData;
-import com.mogo.realtime.entity.MogoSnapshotSetData;
 import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
 import com.mogo.utils.TipToast;
 import com.mogo.utils.logger.Logger;
@@ -30,7 +29,7 @@ public class CameraLiveNoticeHelper implements IMogoCloudOnMsgListener {
     private static final String TAG = "CameraLiveNoticeHelper";
     private Context mContext;
     private static IMogoMarker mMogoMarker;
-    private CloudRoadData mCloudRoadData;
+    private SocketDownData.CloudRoadDataProto mCloudRoadData;
     private volatile boolean isVrMode;
     private volatile boolean isVrModeMarker;
     private volatile String mCurrentUuid;
@@ -81,7 +80,7 @@ public class CameraLiveNoticeHelper implements IMogoCloudOnMsgListener {
      *
      * @param roadData 道路数据
      */
-    private void addVrCameraMarker(CloudRoadData roadData) {
+    private void addVrCameraMarker(SocketDownData.CloudRoadDataProto roadData) {
         Log.e(TAG, "addVrCameraMarker --lat = " + roadData.getLat() + "--lon =" + roadData.getLon() + "--uuid = " + roadData.getUuid() + "---rtmpUrl =" + roadData.getRtmpUrl());
         if (!TextUtils.isEmpty(roadData.getRtmpUrl())) {
             removeCameraMarker();
@@ -108,7 +107,7 @@ public class CameraLiveNoticeHelper implements IMogoCloudOnMsgListener {
      *
      * @param roadData 道路数据
      */
-    private void addNormalCameraMarker(CloudRoadData roadData) {
+    private void addNormalCameraMarker(SocketDownData.CloudRoadDataProto roadData) {
         Log.e(TAG, "addNormalCameraMarker  --lat = " + roadData.getLat() + " --lon =" + roadData.getLon() + "--uuid = " + roadData.getUuid() + "---rtmpUrl =" + roadData.getRtmpUrl());
         if (!TextUtils.isEmpty(roadData.getRtmpUrl())) {
             removeCameraMarker();
@@ -137,7 +136,7 @@ public class CameraLiveNoticeHelper implements IMogoCloudOnMsgListener {
         }
     }
 
-    private void renderMarker(MogoSnapshotSetData obj) {
+    private void renderMarker(SocketDownData.LauncherSnapshotProto  obj) {
         if (obj != null) {
             if (obj.getCamera() != null && !TextUtils.isEmpty(obj.getCamera().getRtmpUrl())) {
                 mCloudRoadData = obj.getCamera();
@@ -189,8 +188,8 @@ public class CameraLiveNoticeHelper implements IMogoCloudOnMsgListener {
     }
 
     @Override
-    public void onMsgReceived(MogoSnapshotSetData mogoSnapshotSetData) {
-        //Logger.d(TAG, "onMsgReceived mogoSnapshotSetData ： " + mogoSnapshotSetData);
+    public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
         renderMarker(mogoSnapshotSetData);
     }
+
 }

modules/mogo-module-service/src/main/AndroidManifest.xml

@@ -14,5 +14,13 @@
                 <action android:name="com.nwd.action.ACTION_MCU_STATE_CHANGE"/>
             </intent-filter>
         </receiver>
+
+        <receiver android:name=".dispatch.DispatchTestPanelBroadCastReceiver">
+            <intent-filter>
+                <action android:name="com.dispatch.test_panel_control" />
+                <category android:name="android.intent.category.DEFAULT" />
+            </intent-filter>
+        </receiver>
+
     </application>
 </manifest>

modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServiceProvider.java

@@ -16,6 +16,7 @@ import com.mogo.map.location.IMogoLocationListener;
 import com.mogo.map.marker.IMogoMarkerClickListener;
 import com.mogo.map.navi.IMogoNaviListener;
 import com.mogo.module.common.utils.CarSeries;
+import com.mogo.module.service.dispatch.DispatchAutoPilotManager;
 import com.mogo.module.service.location.MogoRTKLocation;
 import com.mogo.service.module.IMogoModuleLifecycle;
 import com.mogo.service.module.IMogoModuleProvider;
@@ -101,9 +102,10 @@ public class MogoServiceProvider implements IMogoModuleProvider {
         MarkerServiceHandler.init( context );
 //        if ( DebugConfig.isNeedUploadCoordinatesDurationInTime() ) {
 //        }
-        MogoRTKLocation.getInstance().init();
+//        MogoRTKLocation.getInstance().init(); //todo RTK LOCATION Close
         MogoServices.getInstance().preInit( context );
         MogoServices.getInstance().init( AbsMogoApplication.getApp() );
+        DispatchAutoPilotManager.getInstance().initSocket(context);
         UiThreadHandler.postDelayed( () -> {
         }, 5_000L );
     }

modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java

@@ -34,7 +34,7 @@ import com.mogo.module.common.MogoModulePaths;
 import com.mogo.module.common.entity.MarkerResponse;
 import com.mogo.module.common.map.MapCenterPointStrategy;
 import com.mogo.module.common.map.Scene;
-import com.mogo.module.common.uploadintime.SnapshotLocationController;
+import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
 import com.mogo.module.service.autopilot.AutoPilotRemoteController;
 import com.mogo.module.service.handler.MainLooperHandler;
 import com.mogo.module.service.handler.RefreshWorkThreadHandler;
@@ -47,6 +47,7 @@ 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.timedelay.TimeDelayUploadManager;
 import com.mogo.module.service.ttsConfig.TtsConfigModleData;
 import com.mogo.realtime.api.MoGoAiCloudRealTime;
 import com.mogo.service.adas.IMogoADASController;
@@ -391,6 +392,7 @@ public class MogoServices implements IMogoMapListener,
         if ( DebugConfig.isNeedUploadCoordinatesDurationInTime() ) {
             MoGoAiCloudRealTime.startRealTime( mContext, DebugConfig.getSocketAppId() );
         }
+        TimeDelayUploadManager.getInstance().init(context);
     }
 
     public void initLocationServiceProcess( Context context ) {
@@ -960,6 +962,11 @@ public class MogoServices implements IMogoMapListener,
 
     @Override
     public void onAdasCarDataCallback( ADASCarStateInfo stateInfo ) {
+
+        if(TimeDelayUploadManager.getInstance().isMock()){  //模拟数据时，不更新由工控机传输的自车位置
+            return;
+        }
+
         if ( stateInfo != null && stateInfo.getValues() != null ) {
             JSONObject data = new JSONObject();
             try {
@@ -991,7 +998,7 @@ public class MogoServices implements IMogoMapListener,
                     e.printStackTrace();
                 }
                 MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
-                SnapshotLocationController.getInstance().syncAdasLocationInfo( data );
+                SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo( data );
             } catch ( Exception e ) {
                 e.printStackTrace();
             }

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java

@@ -0,0 +1,178 @@
+package com.mogo.module.service.dispatch;
+
+import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_AFFIRM;
+
+import android.content.Context;
+import android.location.Location;
+import android.os.Handler;
+import android.os.Message;
+
+import com.mogo.map.MogoLatLng;
+import com.mogo.map.location.MogoLocation;
+import com.mogo.map.navi.IMogoCarLocationChangedListener2;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.service.dispatch.bean.AutopilotRoute;
+import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
+import com.mogo.module.service.dispatch.bean.DispatchData;
+import com.mogo.module.service.dispatch.bean.EndLatLon;
+import com.mogo.module.service.dispatch.bean.StartLatLon;
+import com.mogo.module.service.dispatch.model.DispatchResult;
+import com.mogo.module.service.dispatch.model.DispatchServiceModel;
+import com.mogo.module.service.dispatch.model.IDispatch;
+import com.mogo.service.adas.RemoteControlAutoPilotParameters;
+import com.mogo.service.connection.IMogoOnMessageListener;
+import com.mogo.utils.logger.Logger;
+import com.mogo.utils.network.utils.GsonUtil;
+
+import java.util.ArrayList;
+import java.util.List;
+
+//todo 后续拆解是否放到网约车模块,画线部分已与产品沟通，放入后续迭代需求
+//负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
+public class DispatchAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
+        , DispatchRemindDialog.IDispatchRemindClickListener
+        , IMogoCarLocationChangedListener2 {
+
+    private static final String TAG = "DispatchAutoPilotManager";
+    private static volatile DispatchAutoPilotManager instance;
+    private static final byte[] obj = new byte[0];
+    private Context mContext;
+    private static final int MSG_SOCKET_TYPE = 501000;
+    private static final int MSG_TYPE_SHOW_DIALOG = 0;
+
+    private DispatchRemindDialog dispatchRemindDialog;
+    private MogoLocation mogoLocation;
+    private DispatchAdasAutoPilotLocReceiverBean receiverBean;
+
+    private DispatchAutoPilotManager() {
+
+    }
+
+    public static DispatchAutoPilotManager getInstance() {
+        if (instance == null) {
+            synchronized (obj) {
+                if (instance == null) {
+                    instance = new DispatchAutoPilotManager();
+                }
+            }
+        }
+        return instance;
+    }
+
+    private final Handler handler = new Handler() {
+        @Override
+        public void handleMessage(Message msg) {
+            super.handleMessage(msg);
+            if (msg.what == MSG_TYPE_SHOW_DIALOG) {
+                DispatchAdasAutoPilotLocReceiverBean msgData = (DispatchAdasAutoPilotLocReceiverBean) msg.obj;
+                dispatchRemindDialog.showDialog(msgData);
+            }
+        }
+    };
+
+    public void initSocket(Context context) {
+        mContext = context;
+        MogoApisHandler.getInstance()
+                .getApis()
+                .getSocketManagerApi(context).registerOnMessageListener(MSG_SOCKET_TYPE, this);
+        MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
+                .registerCarLocationChangedListener(TAG, this);
+        dispatchRemindDialog = new DispatchRemindDialog(context);
+        dispatchRemindDialog.addIDispatchRemindListener(this);
+    }
+
+    @Override
+    public Class<DispatchAdasAutoPilotLocReceiverBean> target() {
+        return DispatchAdasAutoPilotLocReceiverBean.class;
+    }
+
+    @Override
+    public void onMsgReceived(DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean) {
+        if (adasAutoPilotLocReceiverBean != null
+                && adasAutoPilotLocReceiverBean.getStartLat() != 0.0
+                && adasAutoPilotLocReceiverBean.getStartLon() != 0.0) {
+            this.receiverBean = adasAutoPilotLocReceiverBean;
+            Message message = new Message();
+            message.what = MSG_TYPE_SHOW_DIALOG;
+            message.obj = adasAutoPilotLocReceiverBean;
+            handler.sendMessage(message);
+        }
+    }
+
+
+    @Override
+    public void affirm() {
+        DispatchServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
+            @Override
+            public void onSuccess() {
+                Logger.d(TAG, "");
+                RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
+                currentAutopilot.isSpeakVoice = false;
+                currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
+                currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
+                currentAutopilot.vehicleType = 10;
+                Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
+                MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
+            }
+
+            @Override
+            public void onError(String msg) {
+
+            }
+        });
+    }
+
+    @Override
+    public void onCarLocationChanged2(Location location) {
+        //坐标转换
+        MogoLocation loc = new MogoLocation();
+        loc.setTime(loc.getTime());
+        loc.setAccuracy(location.getAccuracy());
+        loc.setSpeed(location.getSpeed());
+        loc.setLongitude(location.getLongitude());
+        loc.setLatitude(location.getLatitude());
+        loc.setAltitude(location.getAltitude());
+        loc.setBearing(location.getBearing());
+        loc.setProvider(location.getProvider());
+        mogoLocation = loc;
+    }
+
+    @Override
+    public void onCarLocationChanged(MogoLatLng mogoLatLng) {
+
+    }
+
+    public void test() {
+        Logger.d(TAG, "test to trigger mock autopilot");
+        DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean = new DispatchAdasAutoPilotLocReceiverBean(
+                "1", 26.825571122, 112.5762410415, "起点---5号跑道",
+                26.825571122, 112.5762410415, "终点---鄂州机场",
+                "" + System.currentTimeMillis(), "AR453航班", "实现调度", System.currentTimeMillis());
+        this.receiverBean = adasAutoPilotLocReceiverBean;
+        dispatchRemindDialog.showDialog(adasAutoPilotLocReceiverBean);
+    }
+
+    public void testUploadAutopilotRoute() {
+        List<AutopilotRoute.RouteModels> list = new ArrayList<>();
+        AutopilotRoute.RouteModels routeModels = new AutopilotRoute.RouteModels();
+        routeModels.setLat(12.12);
+        routeModels.setLon(13.14);
+        list.add(routeModels);
+        DispatchServiceModel.getInstance().uploadAutopilotRoute(list);
+    }
+
+    public void testDispatchResultUpload() {
+        DispatchServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
+            @Override
+            public void onSuccess() {
+
+            }
+
+            @Override
+            public void onError(String msg) {
+
+            }
+        });
+    }
+
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchRemindDialog.java

@@ -0,0 +1,70 @@
+package com.mogo.module.service.dispatch;
+
+import android.content.Context;
+import android.widget.Button;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+
+import com.mogo.module.common.dialog.BaseFloatDialog;
+import com.mogo.module.service.R;
+import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
+import com.mogo.utils.logger.Logger;
+
+
+public class DispatchRemindDialog extends BaseFloatDialog {
+
+    private static final String TAG = "DispatchRemindDialog";
+    private IDispatchRemindClickListener mListener;
+
+    private final TextView tvStartLoc;
+    private final TextView tvEndLoc;
+    private final TextView tvTaskTime;
+    private final TextView tvFlightInfo;
+    private final TextView tvTaskContent;
+
+    public DispatchRemindDialog(@NonNull Context context) {
+        super(context);
+        setContentView(R.layout.module_dialog_adas_dispatch_remind);
+        setCanceledOnTouchOutside(false);
+        tvStartLoc = findViewById(R.id.module_services_dispatch_dialog_start_content);
+        tvEndLoc = findViewById(R.id.module_services_dispatch_dialog_end_content);
+        tvTaskTime = findViewById(R.id.module_services_dispatch_dialog_task_time);
+        tvFlightInfo = findViewById(R.id.module_services_dispatch_dialog_flight_time);
+        tvTaskContent = findViewById(R.id.module_services_dispatch_dialog_task_content);
+        Button btnAffirm = (Button) findViewById(R.id.module_services_dispatch_dialog_confirm);
+        btnAffirm.setOnClickListener(v -> {
+            if (mListener != null) {
+                mListener.affirm();
+                dismissDialog();
+            }
+        });
+
+    }
+
+    public void showDialog(DispatchAdasAutoPilotLocReceiverBean dispatchContent) {
+        show();
+        tvStartLoc.setText(dispatchContent.getStartLocAddress());
+        tvEndLoc.setText(dispatchContent.getEndLocAddress());
+        tvTaskTime.setText(dispatchContent.getTaskTime());
+        tvFlightInfo.setText(dispatchContent.getFlightInfo());
+        tvTaskContent.setText(dispatchContent.getTaskInfo());
+    }
+
+    private void dismissDialog() {
+        dismiss();
+    }
+
+    public void addIDispatchRemindListener(IDispatchRemindClickListener listener) {
+        if (listener == null) {
+            Logger.d(TAG, "addIDispatchRemindListener listener is null");
+            return;
+        }
+        this.mListener = listener;
+    }
+
+    public interface IDispatchRemindClickListener {
+
+        void affirm();
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchTestPanelBroadCastReceiver.java

@@ -0,0 +1,49 @@
+package com.mogo.module.service.dispatch;
+
+import android.content.BroadcastReceiver;
+import android.content.Context;
+import android.content.Intent;
+
+import com.mogo.utils.logger.Logger;
+
+public class DispatchTestPanelBroadCastReceiver extends BroadcastReceiver {
+
+    private static final String TAG = "DispatchTestPanelBroadCastReceiver";
+
+    /**
+     * Adas测试控制面板广播Action
+     */
+    public static final String BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY = "sceneType";
+
+    private Context mContext;
+
+    @Override
+    public void onReceive(Context context, Intent intent) {
+        try {
+            this.mContext = context;
+            int sceneType = intent.getIntExtra(BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY, 0);
+            Logger.d(TAG, "textPanelOpenType:" + sceneType);
+            // 分发场景
+            dispatchSceneTest(sceneType);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    /**
+     * 分发处理场景
+     *
+     * @param sceneType 场景类型
+     */
+    private void dispatchSceneTest(int sceneType) {
+        Logger.d(TAG, "sceneType=" + sceneType);
+        if (sceneType == 0) {//打开调度弹窗
+            DispatchAutoPilotManager.getInstance().test();
+        } else if(sceneType == 1){ //验证自动驾驶路线上报接口
+            DispatchAutoPilotManager.getInstance().testUploadAutopilotRoute();
+        } else if(sceneType == 2){ //验证自动驾驶调度上报接口
+            DispatchAutoPilotManager.getInstance().testDispatchResultUpload();
+        }
+    }
+
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutonomousDriveStatusBean.java

@@ -0,0 +1,41 @@
+package com.mogo.module.service.dispatch.bean;
+
+/**
+ * Created by XuYong on 2021/5/28 16:12
+ */
+public class AutonomousDriveStatusBean {
+
+    private String sn;
+    private int status;
+    private float vehicleSpeed;
+
+    public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
+        this.sn = sn;
+        this.status = status;
+        this.vehicleSpeed = vehicleSpeed;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public int getStatus() {
+        return status;
+    }
+
+    public void setStatus(int status) {
+        this.status = status;
+    }
+
+    public float getVehicleSpeed() {
+        return vehicleSpeed;
+    }
+
+    public void setVehicleSpeed(float vehicleSpeed) {
+        this.vehicleSpeed = vehicleSpeed;
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotRoute.java

@@ -0,0 +1,75 @@
+package com.mogo.module.service.dispatch.bean;
+
+import com.google.gson.annotations.SerializedName;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/6/21
+ */
+
+public class AutopilotRoute {
+
+    @SerializedName("action")
+    private String action;
+    @SerializedName("models")
+    private List<RouteModels> models;
+
+    public static class RouteModels {
+        @SerializedName("lat")
+        private Double lat;
+        @SerializedName("lon")
+        private Double lon;
+
+        public Double getLat() {
+            return lat;
+        }
+
+        public void setLat(Double lat) {
+            this.lat = lat;
+        }
+
+        public Double getLon() {
+            return lon;
+        }
+
+        public void setLon(Double lon) {
+            this.lon = lon;
+        }
+
+        @Override
+        public String toString() {
+            return "RouteModels{" +
+                    "lat=" + lat +
+                    ", lon=" + lon +
+                    '}';
+        }
+
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public List<RouteModels> getModels() {
+        return models;
+    }
+
+    public void setModels(List<RouteModels> models) {
+        this.models = models;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotRoute{" +
+                "action='" + action + '\'' +
+                ", models=" + models +
+                '}';
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotStatus.java

@@ -0,0 +1,108 @@
+package com.mogo.module.service.dispatch.bean;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @des
+ * @date 2020/7/14
+ */
+public class AutopilotStatus implements Serializable {
+
+    /**
+     * action : autopilotstate
+     * values : {"state":0,"reason":""}
+     */
+
+    private String action;
+    private ValuesBean values;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ValuesBean getValues() {
+        return values;
+    }
+
+    public void setValues(ValuesBean values) {
+        this.values = values;
+    }
+
+    public static class ValuesBean {
+        /**
+         * 0是不可用 1是ready 2是自动驾驶start
+         *
+         * @return
+         */
+        private int state;
+        /**
+         * 车速 m/s
+         */
+        private float speed;
+        /**
+         * 不可用原因
+         */
+        private String reason;
+        /**
+         * 摄像头状态 1代表开启，0代表关闭
+         */
+        private int camera;
+        /**
+         * 雷达状态 1代表开启，0代表关闭
+         */
+        private int radar;
+        /**
+         * RTK状态 1代表开启，0代表关闭
+         */
+        private int rtk;
+        /**
+         * 自动驾驶状态 0非自动驾驶，1自动驾驶
+         */
+        private int pilotmode;
+
+
+        public int getState() {
+            return state;
+        }
+
+        public void setState(int state) {
+            this.state = state;
+        }
+
+        public String getReason() {
+            return reason;
+        }
+
+        public void setReason(String reason) {
+            this.reason = reason;
+        }
+
+        public float getSpeed() {
+            return speed;
+        }
+
+        public void setSpeed(float speed) {
+            this.speed = speed;
+        }
+        public int getCamera() {
+            return camera;
+        }
+
+        public int getRadar() {
+            return radar;
+        }
+
+        public int getRtk() {
+            return rtk;
+        }
+
+        public int getPilotmode() {
+            return pilotmode;
+        }
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchAdasAutoPilotLocReceiverBean.java

@@ -0,0 +1,138 @@
+package com.mogo.module.service.dispatch.bean;
+
+public class DispatchAdasAutoPilotLocReceiverBean {
+
+    private String poiId;
+
+    private double startLat;
+    private double startLon;
+    private String startLocAddress;
+
+    private double endLat;
+    private double endLon;
+    private String endLocAddress;
+
+    private String taskTime;
+    private String flightInfo;
+    private String taskInfo;
+    private long systemTime;
+
+    public DispatchAdasAutoPilotLocReceiverBean(String poiId, double startLat, double startLon, String startLocAddress, double endLat, double endLon, String endLocAddress, String taskTime, String flightInfo, String taskInfo, long systemTime) {
+        this.poiId = poiId;
+        this.startLat = startLat;
+        this.startLon = startLon;
+        this.startLocAddress = startLocAddress;
+        this.endLat = endLat;
+        this.endLon = endLon;
+        this.endLocAddress = endLocAddress;
+        this.taskTime = taskTime;
+        this.flightInfo = flightInfo;
+        this.taskInfo = taskInfo;
+        this.systemTime = systemTime;
+    }
+
+    public String getPoiId() {
+        return poiId;
+    }
+
+    public void setPoiId(String poiId) {
+        this.poiId = poiId;
+    }
+
+    public double getStartLat() {
+        return startLat;
+    }
+
+    public void setStartLat(double startLat) {
+        this.startLat = startLat;
+    }
+
+    public double getStartLon() {
+        return startLon;
+    }
+
+    public void setStartLon(double startLon) {
+        this.startLon = startLon;
+    }
+
+    public String getStartLocAddress() {
+        return startLocAddress;
+    }
+
+    public void setStartLocAddress(String startLocAddress) {
+        this.startLocAddress = startLocAddress;
+    }
+
+    public double getEndLat() {
+        return endLat;
+    }
+
+    public void setEndLat(double endLat) {
+        this.endLat = endLat;
+    }
+
+    public double getEndLon() {
+        return endLon;
+    }
+
+    public void setEndLon(double endLon) {
+        this.endLon = endLon;
+    }
+
+    public String getEndLocAddress() {
+        return endLocAddress;
+    }
+
+    public void setEndLocAddress(String endLocAddress) {
+        this.endLocAddress = endLocAddress;
+    }
+
+    public String getTaskTime() {
+        return taskTime;
+    }
+
+    public void setTaskTime(String taskTime) {
+        this.taskTime = taskTime;
+    }
+
+    public String getFlightInfo() {
+        return flightInfo;
+    }
+
+    public void setFlightInfo(String flightInfo) {
+        this.flightInfo = flightInfo;
+    }
+
+    public String getTaskInfo() {
+        return taskInfo;
+    }
+
+    public void setTaskInfo(String taskInfo) {
+        this.taskInfo = taskInfo;
+    }
+
+    public long getSystemTime() {
+        return systemTime;
+    }
+
+    public void setSystemTime(long systemTime) {
+        this.systemTime = systemTime;
+    }
+
+    @Override
+    public String toString() {
+        return "DispatchAdasAutoPilotLocReceiverBean{" +
+                "poiId='" + poiId + '\'' +
+                ", startLat=" + startLat +
+                ", startLon=" + startLon +
+                ", startLocAddress='" + startLocAddress + '\'' +
+                ", endLat=" + endLat +
+                ", endLon=" + endLon +
+                ", endLocAddress='" + endLocAddress + '\'' +
+                ", taskTime='" + taskTime + '\'' +
+                ", flightInfo='" + flightInfo + '\'' +
+                ", taskInfo='" + taskInfo + '\'' +
+                ", systemTime=" + systemTime +
+                '}';
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchData.java

@@ -0,0 +1,38 @@
+package com.mogo.module.service.dispatch.bean;
+
+import com.mogo.module.service.dispatch.model.DispatchResult;
+
+public class DispatchData {
+
+    private String action;
+    private DispatchResult result;
+
+    public DispatchData(String action, DispatchResult result) {
+        this.action = action;
+        this.result = result;
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public DispatchResult getResult() {
+        return result;
+    }
+
+    public void setResult(DispatchResult result) {
+        this.result = result;
+    }
+
+    @Override
+    public String toString() {
+        return "DispatchData{" +
+                "action='" + action + '\'' +
+                ", result=" + result +
+                '}';
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/EndLatLon.java

@@ -0,0 +1,36 @@
+package com.mogo.module.service.dispatch.bean;
+
+public class EndLatLon {
+
+    private double lat;
+    private double lon;
+
+    public EndLatLon(double lat, double lon) {
+        this.lat = lat;
+        this.lon = lon;
+    }
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat(double lat) {
+        this.lat = lat;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon(double lon) {
+        this.lon = lon;
+    }
+
+    @Override
+    public String toString() {
+        return "EndLatLon{" +
+                "lat=" + lat +
+                ", lon=" + lon +
+                '}';
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportDispatchResult.java

@@ -0,0 +1,36 @@
+package com.mogo.module.service.dispatch.bean;
+
+public class ReportDispatchResult {
+
+    private String sn;
+    private int dispatchResult;
+
+    public ReportDispatchResult(String sn, int dispatchResult) {
+        this.sn = sn;
+        this.dispatchResult = dispatchResult;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public int getDispatchResult() {
+        return dispatchResult;
+    }
+
+    public void setDispatchResult(int dispatchResult) {
+        this.dispatchResult = dispatchResult;
+    }
+
+    @Override
+    public String toString() {
+        return "ReportDispatchResult{" +
+                "sn='" + sn + '\'' +
+                ", dispatchResult=" + dispatchResult +
+                '}';
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportSiteBean.java

@@ -0,0 +1,40 @@
+package com.mogo.module.service.dispatch.bean;
+
+/**
+ * Created by XuYong on 2021/5/31 16:24
+ */
+public class ReportSiteBean {
+    private String sn;
+    private double lon;
+    private double lat;
+
+    public ReportSiteBean(String sn, double lon, double lat) {
+        this.sn = sn;
+        this.lon = lon;
+        this.lat = lat;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon(double lon) {
+        this.lon = lon;
+    }
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat(double lat) {
+        this.lat = lat;
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportedRoute.java

@@ -0,0 +1,36 @@
+package com.mogo.module.service.dispatch.bean;
+
+
+/**
+ * 上报自动驾驶规划的路径
+ */
+public class ReportedRoute {
+    private String sn;
+    private AutopilotStatus.ValuesBean bean;
+    private String siteList;
+
+    public ReportedRoute(String sn, AutopilotStatus.ValuesBean bean) {
+        this.sn = sn;
+        this.bean = bean;
+    }
+
+    public ReportedRoute(String sn, String siteList) {
+        this.sn = sn;
+        this.siteList = siteList;
+    }
+
+    public String getSiteList() {
+        return siteList;
+    }
+
+    public String getState() {
+        return "{\"sn\":\"" + sn + "\",\"state\":" + bean.getState() + ",\"speed\":" + bean.getSpeed() + ",\"reason\":\"" + bean.getReason() + "\",\"camera\":" + bean.getCamera() + ",\"radar\":" + bean.getRadar() + ",\"rtk\":" + bean.getRtk() + "}";
+    }
+
+    public String getRoute() {
+        return "{\"sn\":\"" + sn + "\",\"siteList\":" + siteList + "}";
+
+    }
+
+
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/StartLatLon.java

@@ -0,0 +1,36 @@
+package com.mogo.module.service.dispatch.bean;
+
+public class StartLatLon {
+
+    private double lat;
+    private double lon;
+
+    public StartLatLon(double lat, double lon) {
+        this.lat = lat;
+        this.lon = lon;
+    }
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat(double lat) {
+        this.lat = lat;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon(double lon) {
+        this.lon = lon;
+    }
+
+    @Override
+    public String toString() {
+        return "StartLatLon{" +
+                "lat=" + lat +
+                ", lon=" + lon +
+                '}';
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/DispatchResult.java

@@ -0,0 +1,39 @@
+package com.mogo.module.service.dispatch.model;
+
+import com.mogo.module.service.dispatch.bean.EndLatLon;
+import com.mogo.module.service.dispatch.bean.StartLatLon;
+
+public class DispatchResult {
+
+    private StartLatLon startLatLon;
+    private EndLatLon endLatLon;
+
+    public DispatchResult(StartLatLon startLatLon, EndLatLon endLatLon) {
+        this.startLatLon = startLatLon;
+        this.endLatLon = endLatLon;
+    }
+
+    public StartLatLon getStartLatLon() {
+        return startLatLon;
+    }
+
+    public void setStartLatLon(StartLatLon startLatLon) {
+        this.startLatLon = startLatLon;
+    }
+
+    public EndLatLon getEndLatLon() {
+        return endLatLon;
+    }
+
+    public void setEndLatLon(EndLatLon endLatLon) {
+        this.endLatLon = endLatLon;
+    }
+
+    @Override
+    public String toString() {
+        return "DispatchResult{" +
+                "startLatLon=" + startLatLon +
+                ", endLatLon=" + endLatLon +
+                '}';
+    }
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/DispatchServiceModel.java

@@ -0,0 +1,121 @@
+package com.mogo.module.service.dispatch.model;
+
+import static com.mogo.commons.context.ContextHolderUtil.getContext;
+import static com.mogo.module.common.constants.HostConst.DATA_SERVICE_HOST;
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.data.BaseData;
+import com.mogo.commons.network.SubscribeImpl;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.service.dispatch.bean.AutopilotRoute;
+import com.mogo.module.service.dispatch.bean.ReportDispatchResult;
+import com.mogo.module.service.dispatch.bean.ReportedRoute;
+import com.mogo.utils.logger.Logger;
+import com.mogo.utils.network.RequestOptions;
+import com.mogo.utils.network.utils.GsonUtil;
+
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.schedulers.Schedulers;
+
+public class DispatchServiceModel {
+
+    private static final String TAG = "AdasServiceModel";
+    private static volatile DispatchServiceModel instance;
+    private static final byte[] obj = new byte[0];
+
+    public static final int DISPATCH_RESULT_AFFIRM = 0;
+    public static final int DISPATCH_RESULT_MANUAL_CANCEL = 1;
+    public static final int DISPATCH_RESULT_TIMER_CANCEL = 2;
+
+    private final IDispatchAdasApiService mAdasApiService;
+
+    private DispatchServiceModel() {
+        this.mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IDispatchAdasApiService.class, DATA_SERVICE_HOST);
+    }
+
+    public static DispatchServiceModel getInstance() {
+        if (instance == null) {
+            synchronized (obj) {
+                if (instance == null) {
+                    instance = new DispatchServiceModel();
+                }
+            }
+        }
+        return instance;
+    }
+
+    /**
+     * 上报自动驾驶路线
+     *
+     * @param list 路线集合
+     */
+    public void uploadAutopilotRoute(List<AutopilotRoute.RouteModels> list) {
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        ReportedRoute reportedRoute = new ReportedRoute(sn, GsonUtil.jsonFromObject(list));
+        Map<String, Object> map = new HashMap<>();
+        map.put("sn", sn);
+        map.put("data", GsonUtil.jsonFromObject(reportedRoute));
+        mAdasApiService.uploadAutopilotRoute(map)
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
+                    @Override
+                    public void onNext(BaseData o) {
+                        super.onNext(o);
+                        Logger.d(TAG, "uploadAutopilotRoute success");
+                    }
+
+                    @Override
+                    public void onError(Throwable e) {
+                        super.onError(e);
+                        Logger.d(TAG, "uploadAutopilotRoute error : " + e.getMessage());
+                    }
+
+                    @Override
+                    public void onSuccess(BaseData o) {
+                        super.onSuccess(o);
+                    }
+                });
+    }
+
+    /**
+     * 上报调度处理结果
+     *
+     * @param dispatchResultType int
+     */
+    public void dispatchResultUpload(int dispatchResultType, IDispatch dispatch) {
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        ReportDispatchResult reportDispatchResult = new ReportDispatchResult(sn, dispatchResultType);
+        Map<String, Object> map = new HashMap<>();
+        map.put("sn", sn);
+        map.put("data", GsonUtil.jsonFromObject(reportDispatchResult));
+        mAdasApiService.uploadDispatchResult(map)
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
+                    @Override
+                    public void onNext(BaseData o) {
+                        super.onNext(o);
+                        Logger.d(TAG, "dispatchResultUpload success");
+                        dispatch.onSuccess();
+                    }
+
+                    @Override
+                    public void onError(Throwable e) {
+                        super.onError(e);
+                        Logger.d(TAG, "dispatchResultUpload error : " + e.getMessage());
+                        dispatch.onError(e.getMessage());
+                    }
+
+                    @Override
+                    public void onSuccess(BaseData o) {
+                        super.onSuccess(o);
+                    }
+                });
+    }
+
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/IDispatch.java

@@ -0,0 +1,8 @@
+package com.mogo.module.service.dispatch.model;
+
+public interface IDispatch {
+
+    void onSuccess();
+
+    void onError(String msg);
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/IDispatchAdasApiService.java

@@ -0,0 +1,33 @@
+package com.mogo.module.service.dispatch.model;
+
+import com.mogo.commons.data.BaseData;
+
+import java.util.Map;
+
+import io.reactivex.Observable;
+import retrofit2.http.FieldMap;
+import retrofit2.http.FormUrlEncoded;
+import retrofit2.http.POST;
+
+public interface IDispatchAdasApiService {
+
+    /**
+     * 上报自动驾驶路径  服务于业务调度
+     *
+     * @param parameters map
+     * @return {@link BaseData}
+     */
+    @FormUrlEncoded
+    @POST("/dataService/autoDriver/receiveCarPreSetPath")
+    Observable<BaseData> uploadAutopilotRoute(@FieldMap Map<String, Object> parameters);
+
+    /**
+     * 上报自动驾驶调度处理结果  服务于业务调度
+     *
+     * @param parameters map
+     * @return {@link BaseData}
+     */
+    @FormUrlEncoded
+    @POST("/dataService/autoDriver/receiverDestSiteResult")
+    Observable<BaseData> uploadDispatchResult(@FieldMap Map<String, Object> parameters);
+}

modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java

@@ -4,7 +4,7 @@ import android.content.Context;
 import android.content.Intent;
 import android.text.TextUtils;
 
-import com.mogo.module.common.uploadintime.SnapshotLocationController;
+import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
 import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.ServiceConst;
 import com.mogo.module.service.carinfo.CarStateInfo;
@@ -73,7 +73,7 @@ class ADASStatusIntentHandler implements IntentHandler {
                     data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
                     data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
                     MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
-                    SnapshotLocationController.getInstance().syncAdasLocationInfo( data );
+                    SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo( data );
                 } catch ( Exception e ) {
                     e.printStackTrace();
                 }

modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java

@@ -13,6 +13,8 @@ import android.view.View;
 import android.widget.TextView;
 
 import com.mogo.cloud.commons.utils.CoordinateUtils;
+import com.mogo.cloud.socket.entity.SocketDownData;
+import com.mogo.cloud.socket.entity.SocketDownDataHelper;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.voice.AIAssist;
@@ -31,16 +33,14 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.dialog.WMDialog;
 import com.mogo.module.common.drawer.SnapshotSetDataDrawer;
-import com.mogo.module.common.uploadintime.SnapshotLocationController;
+import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
 import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.R;
 import com.mogo.module.service.status.EnvStatusManager;
 import com.mogo.module.service.timedelay.TimeDelayUploadManager;
-import com.mogo.realtime.entity.ADASRecognizedResult;
-import com.mogo.realtime.entity.CloudRoadData;
-import com.mogo.realtime.entity.MogoSnapshotSetData;
 import com.mogo.service.adas.RemoteControlAutoPilotParameters;
 import com.mogo.service.adas.entity.ADASCarStateInfo;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.entrance.ButtonIndex;
 import com.mogo.utils.TipToast;
 import com.mogo.utils.WorkThreadHandler;
@@ -77,9 +77,11 @@ public class MockIntentHandler implements IntentHandler {
         final int oper = intent.getIntExtra("oper", -1);
         switch (oper) {
             case 1:
+                // 展示自车位置
                 MarkerServiceHandler.getMapUIController().showMyLocation(intent.getBooleanExtra("status", true));
                 break;
             case 2:
+                // 发起求助
                 boolean status = intent.getBooleanExtra("status", false);
                 MarkerServiceHandler.getMogoStatusManager().setSeekHelping(TAG, status);
                 break;
@@ -339,7 +341,7 @@ public class MockIntentHandler implements IntentHandler {
                 MarkerServiceHandler.getApis().getRefreshStrategyControllerApi().restartAutoRefreshAtTime(duration);
                 IMogoMarker marker = MarkerServiceHandler.getMarkerManager().addMarker(TAG, options);
                 MarkerServiceHandler.getMogoStatusManager().setUserInteractionStatus(TAG, true, false);
-                if(!MarkerServiceHandler.getApis().getStatusManagerApi().isVrMode()){
+                if (!MarkerServiceHandler.getApis().getStatusManagerApi().isVrMode()) {
                     MarkerServiceHandler.getMapUIController().moveToCenter(mogoLatLngs.get(0));
                 }
                 WorkThreadHandler.getInstance().post(() -> marker.startSmooth(mogoLatLngs, duration));
@@ -403,7 +405,6 @@ public class MockIntentHandler implements IntentHandler {
                         .syncLocation2Map(null);
                 break;
             case 40:
-
                 double[][] coors = new double[][]{{40.17511749267578, 116.74359130859375},
                         {40.20258331298828, 116.74071502685547},
                         {40.202598571777344, 116.74067687988281},
@@ -444,7 +445,6 @@ public class MockIntentHandler implements IntentHandler {
                         {40.20254135131836, 116.74005889892578},
                         {40.20252990722656, 116.74007415771484},
                         {40.20254898071289, 116.74008178710938},
-
                         {40.20254135131836, 116.74005889892578},
                         {40.20252227783203, 116.74006652832031},
                         {40.20254898071289, 116.74002838134766},
@@ -543,8 +543,8 @@ public class MockIntentHandler implements IntentHandler {
                         .openVrMode(false);
                 break;
             case 46:// 模拟 自车周边数据
-                String json = "{\"allList\":[{\"type\":3,\"uuid\":\"10009-5152\",\"lat\":40.1990809296,\"lon\":116.7393252195,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0},{\"type\":3,\"uuid\":\"10009-5161\",\"lat\":40.1990827227,\"lon\":116.739325826,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0}],\"nearList\":[],\"time\":1614329152238}";
-                SnapshotSetDataDrawer.getInstance().renderSnapshotData(GsonUtil.objectFromJson(json, MogoSnapshotSetData.class));
+//                String json = "{\"allList\":[{\"type\":3,\"uuid\":\"10009-5152\",\"lat\":40.1990809296,\"lon\":116.7393252195,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0},{\"type\":3,\"uuid\":\"10009-5161\",\"lat\":40.1990827227,\"lon\":116.739325826,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0}],\"nearList\":[],\"time\":1614329152238}";
+//                SnapshotSetDataDrawer.getInstance().renderSnapshotData(GsonUtil.objectFromJson(json, MogoSnapshotSetData.class));
                 break;
             case 47:// 模拟鹰眼模式下绘制车辆周边的数据
                 mTimeTickHandler.sendEmptyMessageDelayed(1, 0L);
@@ -603,8 +603,8 @@ public class MockIntentHandler implements IntentHandler {
                 DebugConfig.setSelfCarSpeedYOffset(intent.getIntExtra("yOffset", 20));
                 break;
             case 51:// 模拟路口车辆移动
-                mLocationMockHandler.sendEmptyMessageDelayed(100, 0L);
-                mLocationMockHandler.sendEmptyMessageDelayed(101, 1000L);
+//                mLocationMockHandler.sendEmptyMessageDelayed(100, 0L);
+//                mLocationMockHandler.sendEmptyMessageDelayed(101, 1000L);
                 break;
             case 52:
                 // 打开连调工控机、ADAS的控制面板
@@ -616,7 +616,7 @@ public class MockIntentHandler implements IntentHandler {
                 DebugConfig.setUseAdasRecognize(isUseAdasRecognize);
                 break;
             case 54:
-                mTimeTickCarHandler.sendEmptyMessageDelayed(1, 0L);
+//                mTimeTickCarHandler.sendEmptyMessageDelayed(1, 0L);
                 break;
             case 55:
                 //开启模拟数据Mock，用于验证算法准确性
@@ -647,18 +647,22 @@ public class MockIntentHandler implements IntentHandler {
      */
     private void handleRoadSideMockDataIntent() throws Exception {
         if (roadSizeBr == null) {
-            roadSizeBr = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("roadSide.txt")));
+            roadSizeBr = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("roadSide.txt"))); //todo 需要重新模拟一个test数据
         }
         String carsLine = roadSizeBr.readLine();
-        MogoSnapshotSetData data = new MogoSnapshotSetData();
-        List<CloudRoadData> allList = GsonUtil.arrayFromJson(carsLine, CloudRoadData.class);
-        for (CloudRoadData cloudRoadData : allList) {
-            cloudRoadData.setWgslat(cloudRoadData.getLat());
-            cloudRoadData.setWgslon(cloudRoadData.getLon());
-            cloudRoadData.setFromType(CloudRoadData.FROM_ROAD_UNIT);
+        SocketDownData.LauncherSnapshotProto.Builder data = SocketDownData.LauncherSnapshotProto.newBuilder();
+        List<SocketDownData.CloudRoadDataProto> allList = GsonUtil.arrayFromJson(carsLine, SocketDownData.CloudRoadDataProto.class);
+        if (allList == null || allList.size() == 0) {
+            return;
         }
-        data.setAllList(allList);
-        SnapshotSetDataDrawer.getInstance().renderSnapshotData(data);
+        for (SocketDownData.CloudRoadDataProto cloudRoadData : allList) {
+            cloudRoadData.toBuilder()
+                    .setWgslat(cloudRoadData.getLon())
+                    .setWgslon(cloudRoadData.getLon())
+                    .setFromType(SocketDownDataHelper.FROM_ROAD_UNIT);
+        }
+        data.addAllAllList(allList);
+        SnapshotSetDataDrawer.getInstance().renderSnapshotData(data.build());
         mLocationMockHandler.sendEmptyMessageDelayed(101, 100L);
     }
 
@@ -848,9 +852,9 @@ public class MockIntentHandler implements IntentHandler {
         //改变rtk定位数据，触发自车移动
         MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(jo);
         Log.i("mock-timer-loc-map", "cost " + (System.currentTimeMillis() - start) + "ms");
-        SnapshotLocationController.getInstance().syncAdasLocationInfo(jo);
+        SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(jo);
         Log.i("mock-timer-loc", "cost " + (System.currentTimeMillis() - start) + "ms");
-        Log.i("mock-timer-loc-info",jo.toString());
+        Log.i("mock-timer-loc-info", jo.toString());
         return true;
     }
 
@@ -861,29 +865,30 @@ public class MockIntentHandler implements IntentHandler {
      * 模拟快照意图
      */
     private boolean handleMockSnapshotIntent2() throws Exception {
-        if (br4 == null) {
-            br4 = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("snapshot.txt")));
-        }
-        String line = br4.readLine();
-        if (line == null) {
-            throw new Exception("end of file 2.");
-        }
-        MogoSnapshotSetData data = new MogoSnapshotSetData();
-        List<CloudRoadData> allList = new ArrayList<>();
-        CloudRoadData cloudRoadData = GsonUtil.objectFromJson(line, CloudRoadData.class);
-        if (cloudRoadData == null) {
-            return false;
-        }
-        cloudRoadData.setWgslon(cloudRoadData.getLon());
-        cloudRoadData.setWgslat(cloudRoadData.getLat());
-        cloudRoadData.setUuid("1_21");
-        allList.add(cloudRoadData);
-        data.setAllList(allList);
-
-        final long start = System.currentTimeMillis();
-        SnapshotSetDataDrawer.getInstance().renderSnapshotData(data);
-        Log.i("mock-timer-snapshot", "cost " + (System.currentTimeMillis() - start) + "ms");
-//        mLocationMockHandler.sendEmptyMessageDelayed( 21, 100L );
+//        if (br4 == null) {
+//            br4 = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("snapshot.txt")));  todo 需要重新模拟一个test数据
+//        }
+//        String line = br4.readLine();
+//        if (line == null) {
+//            throw new Exception("end of file 2.");
+//        }
+//        SocketDownData.LauncherSnapshotProto.Builder data = SocketDownData.LauncherSnapshotProto.newBuilder();
+//        List<SocketDownData.CloudRoadDataProto> allList = new ArrayList<>();
+//        SocketDownData.CloudRoadDataProto cloudRoadData = GsonUtil.objectFromJson(line, SocketDownData.CloudRoadDataProto.class);
+//        if (cloudRoadData == null) {
+//            return false;
+//        }
+//        SocketDownData.CloudRoadDataProto.Builder builder = cloudRoadData.toBuilder();
+//        builder.setWgslat(cloudRoadData.getLon());
+//        builder.setWgslon(cloudRoadData.getLat());
+//        builder.setUuid("1_21");
+//        allList.add(cloudRoadData);
+//        data.addAllAllList(allList);
+//
+//        final long start = System.currentTimeMillis();
+//        SnapshotSetDataDrawer.getInstance().renderSnapshotData(data.build());
+//        Log.i("mock-timer-snapshot", "cost " + (System.currentTimeMillis() - start) + "ms");
+////        mLocationMockHandler.sendEmptyMessageDelayed( 21, 100L );
         return true;
     }
 
@@ -897,8 +902,8 @@ public class MockIntentHandler implements IntentHandler {
         final long start = System.currentTimeMillis();
 
         if (readers == null) {
-            readers = new BufferedReader[10];
-            for (int i = 0; i < 10; i++) {
+            readers = new BufferedReader[200];
+            for (int i = 0; i < 200; i++) {
                 readers[i] = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("adas" + i + ".txt")));
             }
         }
@@ -912,10 +917,7 @@ public class MockIntentHandler implements IntentHandler {
             }
         }
 
-        AdasRec adasRec = new AdasRec();
-        adasRec.models = allList;
-
-        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(GsonUtil.jsonFromObject(adasRec));
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(allList);
         Log.i("mock-timer-adas", "cost " + (System.currentTimeMillis() - start) + "ms");
         return true;
     }
@@ -942,16 +944,9 @@ public class MockIntentHandler implements IntentHandler {
             }
         }
 
-        AdasRec adasRec = new AdasRec();
-        adasRec.models = allList;
-
-        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(GsonUtil.jsonFromObject(adasRec));
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(allList);
         Log.i("mock-timer-adas", "cost " + (System.currentTimeMillis() - start) + "ms");
         return true;
     }
 
-    public static class AdasRec {
-        public String action = "view";
-        public List<ADASRecognizedResult> models;
-    }
 }

modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java

@@ -1,5 +1,6 @@
 package com.mogo.module.service.location;
 
+import android.annotation.SuppressLint;
 import android.content.Context;
 import android.location.Criteria;
 import android.location.Location;
@@ -9,8 +10,8 @@ import android.os.Bundle;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.module.common.uploadintime.SnapshotLocationController;
-import com.mogo.realtime.entity.CloudLocationInfo;
+import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
+import com.mogo.service.locationinfo.CloudLocationInfo;
 import com.mogo.utils.logger.Logger;
 
 public class MogoRTKLocation {
@@ -29,6 +30,7 @@ public class MogoRTKLocation {
     private MogoRTKLocation() {
     }
 
+    @SuppressLint("MissingPermission")
     public void init() {
         locationManager = (LocationManager) AbsMogoApplication.getApp().getApplicationContext().getSystemService(Context.LOCATION_SERVICE);
         String provider = locationManager.getBestProvider(getCriteria(), true);
@@ -74,7 +76,7 @@ public class MogoRTKLocation {
                     cloudLocationInfo.setSystemTime(System.currentTimeMillis());
                     cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
                             .getTileId(location.getLongitude(), location.getLatitude())));
-                    SnapshotLocationController.getInstance().syncLocationInfo(cloudLocationInfo);
+                    SnapshotLocationDataCenter.getInstance().syncLocationInfo(cloudLocationInfo);
                 }
             } else {
                 Logger.e(TAG, "location == null");
@@ -102,7 +104,7 @@ public class MogoRTKLocation {
         if (locationManager != null && locationListener != null) {
             locationManager.removeUpdates(locationListener);
         } else {
-            Logger.d(TAG, "stop failed , reason : loc" + locationManager + " , or loc listener: " + locationListener + " is null");
+            Logger.d(TAG, "stop failed , listener: " + locationListener + " is null");
         }
     }
 }

modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java

@@ -7,6 +7,7 @@ import android.os.Message;
 import android.text.TextUtils;
 import android.util.Log;
 
+import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.map.MogoLatLng;
@@ -39,10 +40,9 @@ import com.mogo.module.service.network.RefreshCallback;
 import com.mogo.module.service.network.RefreshModel;
 import com.mogo.module.service.polyline.LimberCollisionPolyline;
 import com.mogo.realtime.api.MoGoAiCloudRealTime;
-import com.mogo.realtime.entity.ADASRecognizedResult;
-import com.mogo.realtime.entity.MogoSnapshotSetData;
 import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
 import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.module.IMogoBizActionDoneListener;
 import com.mogo.utils.ResourcesHelper;
 import com.mogo.utils.ThreadPoolService;
@@ -147,7 +147,7 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
             }
 
             @Override
-            public void onMsgReceived(MogoSnapshotSetData mogoSnapshotSetData) {
+            public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
                 DebugConfig.setStatus(DebugConfig.sDownloadSnapshot, true);
                 Message msg = mSnapshotHandler.obtainMessage();
                 msg.obj = mogoSnapshotSetData;
@@ -207,8 +207,8 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
         @Override
         public void handleMessage(Message msg) {
             super.handleMessage(msg);
-            if (msg.obj instanceof MogoSnapshotSetData) {
-                SnapshotSetDataDrawer.getInstance().renderSnapshotData(((MogoSnapshotSetData) msg.obj));
+            if (msg.obj instanceof SocketDownData.LauncherSnapshotProto) {
+                SnapshotSetDataDrawer.getInstance().renderSnapshotData(((SocketDownData.LauncherSnapshotProto) msg.obj));
             } else if (msg.obj == null) {
                 SnapshotSetDataDrawer.getInstance().renderSnapshotData(null);
             }

modules/mogo-module-service/src/main/java/com/mogo/module/service/spi/SPIRealTimeUpload.java

@@ -1,29 +1,16 @@
 package com.mogo.module.service.spi;
 
 import com.elegant.spi.annotations.Service;
-import com.mogo.module.common.uploadintime.SnapshotLocationController;
-import com.mogo.module.service.MarkerServiceHandler;
+import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
 import com.mogo.realtime.api.IRealTimeProvider;
-import com.mogo.realtime.entity.ADASRecognizedResult;
-import com.mogo.realtime.entity.CloudLocationInfo;
+import com.mogo.realtime.entity.SocketReceiveDataProto3;
 
-import java.util.List;
 
 @Service(value = IRealTimeProvider.class)
 public class SPIRealTimeUpload implements IRealTimeProvider {
 
     @Override
-    public List<ADASRecognizedResult> getLastADASRecognizedResult() {
-        return  MarkerServiceHandler.getADASController().getLastADASRecognizedResult();
-    }
-
-    @Override
-    public List<CloudLocationInfo> getLocationMsg() {
-        return SnapshotLocationController.getInstance().getSendLocationData();
-    }
-
-    @Override
-    public int getLocationAccuracy() {
-        return SnapshotLocationController.getInstance().getDataAccuracy();
+    public SocketReceiveDataProto3.SocketReceiveDataProto getLocationMsg() {
+        return null;
     }
 }

modules/mogo-module-service/src/main/java/com/mogo/module/service/status/EnvStatusManager.java

@@ -5,10 +5,12 @@ import android.graphics.Color;
 import android.os.Handler;
 import android.os.Looper;
 import android.os.Message;
+import android.text.TextUtils;
 import android.view.Gravity;
 import android.view.ViewGroup;
 import android.widget.TextView;
 
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.module.common.MogoApisHandler;
@@ -69,16 +71,17 @@ public class EnvStatusManager {
 
     private void renderStatus() {
         String[] sStatusName = {
-                "定位",
-                "近景",
-                "下发",
-                "AUTO",
-                "长链",
+                "工控机定位",
+                "ADAS近景感知",
+                "云端远景感知",
+                "自动驾驶状态",
+                "socket长链",
                 "经度",
                 "纬度",
                 "网络状态",
                 "App版本",
-                "Map版本"
+                "Map版本",
+                "SN"
         };
         StringBuilder stringBuilder = new StringBuilder();
         for (int i = 0; i < sStatusName.length; i++) {
@@ -92,7 +95,12 @@ public class EnvStatusManager {
             } else if (i == 8) {
                 stringBuilder.append(getVersionName(mContext, "com.mogo.launcher.f")).append("\n");
             } else if (i == 9) {
-                stringBuilder.append(AppUtils.getCustomMapSDKVersion(mContext)).append("\n");
+                String mapVersion = AppUtils.getCustomMapSDKVersion(mContext);
+                if (!TextUtils.isEmpty(mapVersion)) {
+                    stringBuilder.append(mapVersion).append("\n");
+                }
+            } else if(i == 10){
+                stringBuilder.append(MoGoAiCloudClientConfig.getInstance().getSn()).append("\n");
             } else {
                 stringBuilder.append("true".equals(DebugConfig.getStatus(i, true)) ? "正常" : "异常").append("\n");
             }
@@ -108,10 +116,6 @@ public class EnvStatusManager {
                 mStatusTv.setTextColor(Color.WHITE);
             }
         }
-
-        //添加网络状态
-
-        //
     }
 
     private Context mContext;

modules/mogo-module-service/src/main/java/com/mogo/module/service/timedelay/TimeDelayUploadManager.java

@@ -4,22 +4,23 @@ import android.content.Context;
 import android.os.Build;
 import android.os.Handler;
 import android.os.Message;
+import android.text.TextUtils;
 
 import androidx.annotation.RequiresApi;
 
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.commons.data.BaseData;
 import com.mogo.commons.network.SubscribeImpl;
-import com.mogo.commons.network.Utils;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.module.common.uploadintime.SnapshotLocationController;
+import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
 import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.network.TimeDelayApiService;
 import com.mogo.module.service.network.bean.MockSocketReceiverData;
 import com.mogo.module.service.network.bean.MockSocketSendData;
 import com.mogo.realtime.api.MoGoAiCloudRealTime;
-import com.mogo.realtime.entity.CloudRoadData;
-import com.mogo.realtime.entity.MogoSnapshotSetData;
 import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
+import com.mogo.service.adas.IMogoADASController;
 import com.mogo.service.connection.IMogoOnMessageListener;
 import com.mogo.utils.WorkThreadHandler;
 import com.mogo.utils.logger.Logger;
@@ -53,6 +54,7 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
     private long mRecordSatelliteTime; //todo 后续多点模拟用
 
     private TimeDelayApiService timeDelayApiService;
+    private IMogoADASController adasControllerApi;
 
     private TimeDelayUploadManager() {
 
@@ -69,11 +71,16 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
         return timeDelayUploadManager;
     }
 
+    public boolean isMock() {
+        return isMockData;
+    }
+
     public void init(Context mContext) {
         MogoApisHandler.getInstance()
                 .getApis()
                 .getSocketManagerApi(mContext).registerOnMessageListener(MSG_SOCKET_TYPE, this);
         MoGoAiCloudRealTime.registerOnMsgListener(this);
+        adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
     }
 
     private final Handler mockHandler = new Handler(WorkThreadHandler.newInstance("mock-algorithm-work-thread").getLooper()) {
@@ -93,7 +100,7 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
                     e.printStackTrace();
                 }
                 MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(jo);
-                SnapshotLocationController.getInstance().syncAdasLocationInfo(jo);
+                SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(jo);
                 mockHandler.sendEmptyMessageDelayed(MOCK_MSG, 50);
             }
         }
@@ -137,10 +144,11 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
     //接收实时数据监听回调，用于给服务端上报时延
     @RequiresApi(api = Build.VERSION_CODES.N)
     @Override
-    public void onMsgReceived(MogoSnapshotSetData mogoSnapshotSetData) {
+    public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
         if (isMockData) {
+            Logger.d(TAG,"收到下发数据 mogoSnapshotSetData : " + mogoSnapshotSetData.toString());
             //接口数据上报
-            CloudRoadData result = mogoSnapshotSetData.getAllList()
+            SocketDownData.CloudRoadDataProto result = mogoSnapshotSetData.getAllListList()
                     .stream()
                     .filter(cloudRoadData -> cloudRoadData.getUuid().contains("serialNumber_"))
                     .findAny()
@@ -149,12 +157,19 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
                 Logger.d(TAG, "未找到与之匹配数据");
                 return;
             }
-            MockSocketSendData mockSocketSendData = new MockSocketSendData(System.currentTimeMillis(), result.getUuid(), result.getSatelliteTime());
+            Logger.d(TAG,"找到匹配数据 result : " + result.toString());
+            long satelliteTime;
+            if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime())) {
+                satelliteTime = System.currentTimeMillis();
+            } else {
+                satelliteTime = Long.parseLong(adasControllerApi.getSatelliteTime());
+            }
+            MockSocketSendData mockSocketSendData = new MockSocketSendData(satelliteTime, result.getUuid(), result.getSatelliteTime());
             Map<String, Object> map = new HashMap<>();
-            map.put("sn", Utils.getSn());
+            map.put("sn", MoGoAiCloudClientConfig.getInstance().getSn());
             map.put("data", GsonUtil.jsonFromObject(mockSocketSendData));
             Logger.d(TAG, "mockSocketSendData : " + GsonUtil.jsonFromObject(mockSocketSendData));
-            Logger.d(TAG, "data uuid : " + result.getUuid() + " duration : " + (System.currentTimeMillis() - result.getSatelliteTime()));
+            Logger.d(TAG, "data uuid : " + result.getUuid() + " duration : " + (satelliteTime - result.getSatelliteTime()));
             timeDelayApiService.uploadDelayData(map)
                     .subscribeOn(Schedulers.io())
                     .observeOn(AndroidSchedulers.mainThread())
@@ -171,4 +186,5 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
                     });
         }
     }
+
 }

modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java

@@ -3,7 +3,7 @@ package com.mogo.module.service.utils;
 import android.location.Location;
 
 import com.mogo.map.MogoLatLng;
-import com.mogo.realtime.entity.CloudLocationInfo;
+import com.mogo.service.locationinfo.CloudLocationInfo;
 
 /**
  * 定位数据类型转换工具

modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java

@@ -4,7 +4,7 @@ import android.os.SystemClock;
 
 import com.mogo.map.MogoLatLng;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.realtime.entity.CloudLocationInfo;
+import com.mogo.service.locationinfo.CloudLocationInfo;
 import com.mogo.utils.logger.Logger;
 
 import java.util.ArrayList;

modules/mogo-module-service/src/main/res/drawable/bg_adas_dispatch.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="@color/module_services_dispatch_bg" />
+    <corners android:radius="@dimen/module_services_dispatch_dialog_corner" />
+
+</shape>

modules/mogo-module-service/src/main/res/drawable/bg_adas_dispatch_affirm.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="@color/module_services_dispatch_affirm_bg" />
+    <corners android:radius="@dimen/module_services_dispatch_dialog_affirm_corner" />
+
+</shape>

modules/mogo-module-service/src/main/res/layout/module_dialog_adas_dispatch_remind.xml

@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="@dimen/module_services_dispatch_dialog_width"
+    android:layout_height="@dimen/module_services_dispatch_dialog_height"
+    android:background="@drawable/bg_adas_dispatch">
+
+    <TextView
+        android:id="@+id/module_services_dispatch_dialog_title"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_centerHorizontal="true"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_title_margin_top"
+        android:text="@string/module_services_dispatch_dialog_title"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/module_services_dispatch_dialog_title_size"
+        android:textStyle="bold" />
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_first_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_startloc_margin_top"
+        android:text="@string/module_services_dispatch_dialog_start_loc"
+        android:textSize="@dimen/module_services_dispatch_dialog_next_level_title_size" />
+
+    <TextView
+        android:id="@+id/module_services_dispatch_dialog_start_content"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_first_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_startloc_content_margin_top"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/module_services_dispatch_dialog_title_size"
+        android:textStyle="bold" />
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_first_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_endloc_margin_top"
+        android:text="@string/module_services_dispatch_dialog_end_loc"
+        android:textSize="@dimen/module_services_dispatch_dialog_next_level_title_size" />
+
+    <TextView
+        android:id="@+id/module_services_dispatch_dialog_end_content"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_first_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_endloc_content_margin_top"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/module_services_dispatch_dialog_title_size"
+        android:textStyle="bold" />
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_first_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_task_margin_top"
+        android:text="@string/module_services_dispatch_dialog_task_info"
+        android:textSize="@dimen/module_services_dispatch_dialog_next_level_title_size" />
+
+    <TextView
+        android:id="@+id/module_services_dispatch_dialog_task_content"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_first_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_task_content_margin_top"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/module_services_dispatch_dialog_task_content_size" />
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_last_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_startloc_margin_top"
+        android:text="@string/module_services_dispatch_dialog_task_time"
+        android:textSize="@dimen/module_services_dispatch_dialog_next_level_title_size" />
+
+    <TextView
+        android:id="@+id/module_services_dispatch_dialog_task_time"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_last_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_startloc_content_margin_top"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/module_services_dispatch_dialog_title_size"
+        android:textStyle="bold" />
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_last_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_endloc_margin_top"
+        android:text="@string/module_services_dispatch_dialog_flight_info"
+        android:textSize="@dimen/module_services_dispatch_dialog_next_level_title_size" />
+
+    <TextView
+        android:id="@+id/module_services_dispatch_dialog_flight_time"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/module_services_dispatch_dialog_last_column_margin_left"
+        android:layout_marginTop="@dimen/module_services_dispatch_dialog_endloc_content_margin_top"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/module_services_dispatch_dialog_title_size"
+        android:textStyle="bold" />
+
+    <Button
+        android:id="@+id/module_services_dispatch_dialog_confirm"
+        android:layout_width="@dimen/module_services_dispatch_dialog_affirm_width"
+        android:layout_height="@dimen/module_services_dispatch_dialog_affirm_height"
+        android:layout_alignParentBottom="true"
+        android:layout_centerHorizontal="true"
+        android:layout_marginBottom="@dimen/module_services_dispatch_dialog_margin_bottom"
+        android:background="@drawable/bg_adas_dispatch_affirm"
+        android:gravity="center"
+        android:text="@string/module_services_dispatch_dialog_affirm"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/module_services_dispatch_dialog_title_size"
+        android:textStyle="bold" />
+</RelativeLayout>

modules/mogo-module-service/src/main/res/values-xhdpi-2560x1600/dimens.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <dimen name="module_services_dispatch_dialog_width">1263px</dimen>
+    <dimen name="module_services_dispatch_dialog_height">1173px</dimen>
+    <dimen name="module_services_dispatch_dialog_corner">32px</dimen>
+    <dimen name="module_services_dispatch_dialog_next_level_title_size">38px</dimen>
+    <dimen name="module_services_dispatch_dialog_title_size">48px</dimen>
+    <dimen name="module_services_dispatch_dialog_task_content_size">42px</dimen>
+    <dimen name="module_services_dispatch_dialog_title_margin_top">55px</dimen>
+    <dimen name="module_services_dispatch_dialog_startloc_margin_top">219px</dimen>
+    <dimen name="module_services_dispatch_dialog_startloc_content_margin_top">288px</dimen>
+    <dimen name="module_services_dispatch_dialog_endloc_margin_top">415px</dimen>
+    <dimen name="module_services_dispatch_dialog_endloc_content_margin_top">484px</dimen>
+    <dimen name="module_services_dispatch_dialog_task_margin_top">621px</dimen>
+    <dimen name="module_services_dispatch_dialog_task_content_margin_top">690px</dimen>
+    <dimen name="module_services_dispatch_dialog_first_column_margin_left">100px</dimen>
+    <dimen name="module_services_dispatch_dialog_last_column_margin_left">852px</dimen>
+    <dimen name="module_services_dispatch_dialog_margin_bottom">80px</dimen>
+    <dimen name="module_services_dispatch_dialog_affirm_width">700px</dimen>
+    <dimen name="module_services_dispatch_dialog_affirm_height">140px</dimen>
+    <dimen name="module_services_dispatch_dialog_affirm_corner">70px</dimen>
+</resources>

modules/mogo-module-service/src/main/res/values/colors.xml

@@ -9,4 +9,6 @@
     <color name="module_services_id_panel_item_avatar_border_color">#3081A4DC</color>
     <color name="module_services_empty_tip_textColor">#B2FFFFFF</color>
     <color name="module_services_error_textColor">#FFFFFF</color>
+    <color name="module_services_dispatch_bg">#E63B4577</color>
+    <color name="module_services_dispatch_affirm_bg">#3E7BFE</color>
 </resources>

modules/mogo-module-service/src/main/res/values/dimens.xml

@@ -59,5 +59,24 @@
     <dimen name="module_services_panel_item_nickname_marginTop">3px</dimen>
     <dimen name="module_services_panel_item_distance_tag_marginBottom">3px</dimen>
     <dimen name="module_services_panel_item_start">24px</dimen>
-¬
+
+    <dimen name="module_services_dispatch_dialog_width">1263px</dimen>
+    <dimen name="module_services_dispatch_dialog_height">1173px</dimen>
+    <dimen name="module_services_dispatch_dialog_corner">32px</dimen>
+    <dimen name="module_services_dispatch_dialog_next_level_title_size">38px</dimen>
+    <dimen name="module_services_dispatch_dialog_title_size">48px</dimen>
+    <dimen name="module_services_dispatch_dialog_task_content_size">42px</dimen>
+    <dimen name="module_services_dispatch_dialog_title_margin_top">55px</dimen>
+    <dimen name="module_services_dispatch_dialog_startloc_margin_top">219px</dimen>
+    <dimen name="module_services_dispatch_dialog_startloc_content_margin_top">288px</dimen>
+    <dimen name="module_services_dispatch_dialog_endloc_margin_top">415px</dimen>
+    <dimen name="module_services_dispatch_dialog_endloc_content_margin_top">484px</dimen>
+    <dimen name="module_services_dispatch_dialog_task_margin_top">621px</dimen>
+    <dimen name="module_services_dispatch_dialog_task_content_margin_top">690px</dimen>
+    <dimen name="module_services_dispatch_dialog_first_column_margin_left">100px</dimen>
+    <dimen name="module_services_dispatch_dialog_last_column_margin_left">852px</dimen>
+    <dimen name="module_services_dispatch_dialog_margin_bottom">80px</dimen>
+    <dimen name="module_services_dispatch_dialog_affirm_width">700px</dimen>
+    <dimen name="module_services_dispatch_dialog_affirm_height">140px</dimen>
+    <dimen name="module_services_dispatch_dialog_affirm_corner">70px</dimen>
 </resources>

modules/mogo-module-service/src/main/res/values/strings.xml

@@ -12,4 +12,11 @@
     <string name="module_services_online_car_panel_empty_tmpl">很抱歉，目的地%d公里内未找到车友</string>
     <string name="module_services_online_car_panel_title">目的地车友</string>
     <string name="module_services_error_text">加载失败，请点击重试</string>
+    <string name="module_services_dispatch_dialog_title">您有新的工作任务</string>
+    <string name="module_services_dispatch_dialog_start_loc">开始地点:</string>
+    <string name="module_services_dispatch_dialog_end_loc">结束地点:</string>
+    <string name="module_services_dispatch_dialog_task_time">任务时间:</string>
+    <string name="module_services_dispatch_dialog_task_info">任务内容:</string>
+    <string name="module_services_dispatch_dialog_flight_info">航班信息:</string>
+    <string name="module_services_dispatch_dialog_affirm">接受任务</string>
 </resources>

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/IMoGoWarnPolylineManager.java

@@ -4,9 +4,7 @@ import android.content.Context;
 
 import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.map.overlay.IMogoPolyline;
-import com.mogo.module.common.entity.V2XRoadEventEntity;
 import com.mogo.module.v2x.entity.model.DrawLineInfo;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 
 /**
  * 绘制可变宽度和渐变的线

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java

@@ -7,14 +7,11 @@ import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.map.overlay.MogoPolylineOptions;
-import com.mogo.module.common.entity.V2XPoiTypeEnum;
-import com.mogo.module.common.entity.V2XRoadEventEntity;
 import com.mogo.module.v2x.MoGoV2XServicePaths;
 import com.mogo.module.v2x.V2XConst;
 import com.mogo.module.v2x.V2XServiceManager;
 import com.mogo.module.v2x.entity.model.DrawLineInfo;
 import com.mogo.module.v2x.manager.IMoGoWarnPolylineManager;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 
 import java.util.ArrayList;
 import java.util.List;

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/AdasDataBroadcastReceiver.java

@@ -6,10 +6,6 @@ import android.content.Intent;
 import android.util.Log;
 
 import com.mogo.module.v2x.V2XConst;
-import com.mogo.module.v2x.V2XWaringManager;
-import com.mogo.realtime.entity.ADASRecognizedResult;
-import com.mogo.utils.logger.Logger;
-import com.mogo.utils.network.utils.GsonUtil;
 
 /**
  * 单车预警，车辆盲区预警，弱势交通参与者预警

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java

@@ -2,7 +2,7 @@ package com.mogo.service.adas;
 
 import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.map.uicontroller.EnumMapUI;
-import com.mogo.realtime.entity.ADASRecognizedResult;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
 
 import java.util.List;
 
@@ -180,14 +180,21 @@ public interface IMogoADASController extends IProvider {
      */
     double getLastSpeed();
 
+    /**
+     * 获取由工控机传回的GPS星历时间
+     *
+     * @return
+     */
+    String getSatelliteTime();
+
     /**
      * 结束自动驾驶
      */
     void cancelAutopilot();
 
-    void mockAdasLoc( String json );
+    void mockAdasLoc(String json);
 
-    void mockAdasRecognized( List< ADASRecognizedResult > recognizedResults );
+    void mockAdasRecognized(List<ADASRecognizedResult> recognizedResults);
 
     void mockAdasRecognized( String json );
 }

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java

@@ -1,7 +1,7 @@
 package com.mogo.service.adas;
 
 
-import com.mogo.realtime.entity.ADASRecognizedResult;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
 
 import java.util.List;
 

services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java

@@ -0,0 +1,115 @@
+package com.mogo.service.adas.entity;
+
+/*
+ * adas 识别物体参数
+ */
+public class ADASRecognizedResult {
+
+    /**
+     * 识别物体类型
+     */
+    public int type;
+
+    /**
+     * 识别物体唯一标识
+     */
+    public String uuid;
+
+    /**
+     * 红绿灯颜色
+     */
+    public String color;
+
+    /**
+     * 车ID
+     */
+    public String carId;
+
+    /**
+     * 识别物体的纬度
+     */
+    public double lat;
+
+    /**
+     * 识别物体的经度
+     */
+    public double lon;
+
+    /**
+     * 车头朝向
+     */
+    public double heading;
+
+    /**
+     * 系统时间
+     */
+    public long systemTime;
+
+    /**
+     * 定位卫星时间
+     */
+    public long satelliteTime;
+
+    /**
+     * 海拔
+     */
+    public double alt;
+
+    /**
+     * 速度
+     */
+    public double speed;
+
+    /**
+     * 莫顿码
+     */
+    public long mortonCode;
+
+    /**
+     * 实际距离
+     * 使用distanceX和distanceY计算
+     */
+    public double distance;
+
+    /**
+     * 数据来源精度
+     * 0：普通定位
+     * 1：高精定位
+     */
+    public int dataAccuracy;
+
+    /**
+     * 道路ID
+     */
+    public String roadId;
+
+    /**
+     * 车道ID-2D路段
+     */
+    public String laneId;
+
+    /**
+     * 车道号：中心线编号为0，中心线右侧编号为负数，3车道通行Road的车道编号，0，-1，-2，-3
+     */
+    public int laneNum;
+
+    /**
+     * 限速
+     */
+    public double rateLimiting;
+
+    /**
+     * 瓦片id
+     */
+    public String tileId;
+
+    /**
+     * 车道宽度
+     */
+    public double roadWidth;
+
+    /**
+     * 1 绿, 2 黄, 3 红
+     */
+    public int drawlevel;
+}

services/mogo-service-api/src/main/java/com/mogo/service/connection/IMogoSocketManager.java

@@ -3,6 +3,7 @@ package com.mogo.service.connection;
 import android.content.Context;
 
 import com.alibaba.android.arouter.facade.template.IProvider;
+import com.mogo.cloud.socket.entity.MsgBody;
 
 /**
  * @author congtaowang
@@ -50,5 +51,5 @@ public interface IMogoSocketManager extends IProvider {
      * @param body     消息体
      * @param listener 回执监听
      */
-    void sendMsg( MsgBody body, IMogoMsgAckListener listener );
+    void sendMsg(MsgBody body, IMogoMsgAckListener listener );
 }

services/mogo-service-api/src/main/java/com/mogo/service/connection/MsgBody.java

@@ -1,71 +0,0 @@
-package com.mogo.service.connection;
-
-/**
- * @author congtaowang
- * @since 2019-12-31
- * <p>
- * 描述
- */
-public class MsgBody {
-
-    /**
-     * 消息类型
-     */
-    private int mMsgType;
-
-//    /**
-//     * 服务端分发，业务线
-//     */
-//    private int mProductLine = MogoCommon.Product.mogoBussiness_VALUE;
-//
-//    /**
-//     *
-//     */
-//    private int mHeaderType = MogoConnsvr.MsgType.mogoMsgTypeDispatchSvrNoRspReq_VALUE;
-
-    /**
-     * 是否回执
-     */
-    private boolean mAck = false;
-
-    /**
-     * 消息ID
-     */
-    private final long mMsgId = System.currentTimeMillis();
-
-    /**
-     * 消息内容
-     */
-    private byte[] mContent;
-
-    public MsgBody msgType( int msgType ) {
-        this.mMsgType = msgType;
-        return this;
-    }
-
-    public MsgBody ack( boolean ack ) {
-        this.mAck = ack;
-        return this;
-    }
-
-    public MsgBody content( byte[] object ) {
-        this.mContent = object;
-        return this;
-    }
-
-    public int getMsgType() {
-        return mMsgType;
-    }
-
-    public boolean isAck() {
-        return mAck;
-    }
-
-    public long getMsgId() {
-        return mMsgId;
-    }
-
-    public byte[] getContent() {
-        return mContent;
-    }
-}

services/mogo-service-api/src/main/java/com/mogo/service/locationinfo/CloudLocationInfo.java

@@ -0,0 +1,314 @@
+package com.mogo.service.locationinfo;
+
+import android.os.Build;
+import android.os.Parcel;
+import android.os.Parcelable;
+
+import androidx.annotation.RequiresApi;
+
+import java.util.Objects;
+
+/**
+ * 自车定位信息
+ */
+public class CloudLocationInfo implements Parcelable {
+
+    /**
+     * 纬度
+     */
+    private double lat;
+
+    /**
+     * 经度
+     */
+    private double lon;
+
+    /**
+     * 车头方向
+     */
+    private double heading;
+
+    /**
+     * 系统时间
+     */
+    private long systemTime;
+
+    /**
+     * 卫星时间
+     */
+    private long satelliteTime;
+
+    /**
+     * 海拔
+     */
+    private double alt;
+
+    /**
+     * 车速
+     */
+    private double speed;
+
+    /**
+     * 车辆类型
+     * 0:普通车辆、家用车
+     */
+    private int vehicleType = 0;
+
+    /**
+     * 道路ID
+     */
+    private String roadId;
+
+    /**
+     * 车道ID-2D路段
+     */
+    private String laneId;
+
+    /**
+     * 车道号：中心线编号为0，中心线右侧编号为负数，3车道通行Road的车道编号，0，-1，-2，-3
+     */
+    private int laneNum;
+
+    /**
+     * 限速
+     */
+    private double rateLimiting;
+
+    /**
+     * 瓦片id
+     */
+    private String tileId;
+
+    /**
+     * 车道宽度
+     */
+    private double roadWidth;
+
+    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;
+        this.vehicleType = info.vehicleType;
+        this.roadId = info.roadId;
+        this.laneId = info.laneId;
+        this.laneNum = info.laneNum;
+        this.rateLimiting = info.rateLimiting;
+        this.tileId = info.tileId;
+        this.roadWidth = info.roadWidth;
+    }
+
+    protected CloudLocationInfo(Parcel in) {
+        lat = in.readDouble();
+        lon = in.readDouble();
+        heading = in.readDouble();
+        systemTime = in.readLong();
+        satelliteTime = in.readLong();
+        alt = in.readDouble();
+        speed = in.readDouble();
+        vehicleType = in.readInt();
+        roadId = in.readString();
+        laneId = in.readString();
+        laneNum = in.readInt();
+        rateLimiting = in.readDouble();
+        tileId = in.readString();
+        roadWidth = in.readDouble();
+    }
+
+    @Override
+    public void writeToParcel(Parcel dest, int flags) {
+        dest.writeDouble(lat);
+        dest.writeDouble(lon);
+        dest.writeDouble(heading);
+        dest.writeLong(systemTime);
+        dest.writeLong(satelliteTime);
+        dest.writeDouble(alt);
+        dest.writeDouble(speed);
+        dest.writeInt(vehicleType);
+        dest.writeString(roadId);
+        dest.writeString(laneId);
+        dest.writeInt(laneNum);
+        dest.writeDouble(rateLimiting);
+        dest.writeString(tileId);
+        dest.writeDouble(roadWidth);
+    }
+
+    @Override
+    public int describeContents() {
+        return 0;
+    }
+
+    public static final Creator<CloudLocationInfo> CREATOR = new Creator<CloudLocationInfo>() {
+        @Override
+        public CloudLocationInfo createFromParcel(Parcel in) {
+            return new CloudLocationInfo(in);
+        }
+
+        @Override
+        public CloudLocationInfo[] newArray(int size) {
+            return new CloudLocationInfo[size];
+        }
+    };
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat(double lat) {
+        this.lat = lat;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon(double lon) {
+        this.lon = lon;
+    }
+
+    public double getHeading() {
+        return heading;
+    }
+
+    public void setHeading(double heading) {
+        this.heading = heading;
+    }
+
+    public long getSystemTime() {
+        return systemTime;
+    }
+
+    public void setSystemTime(long systemTime) {
+        this.systemTime = systemTime;
+    }
+
+    public long getSatelliteTime() {
+        return satelliteTime;
+    }
+
+    public void setSatelliteTime(long satelliteTime) {
+        this.satelliteTime = satelliteTime;
+    }
+
+    public double getAlt() {
+        return alt;
+    }
+
+    public void setAlt(double alt) {
+        this.alt = alt;
+    }
+
+    public double getSpeed() {
+        return speed;
+    }
+
+    public void setSpeed(double speed) {
+        this.speed = speed;
+    }
+
+    public int getVehicleType() {
+        return vehicleType;
+    }
+
+    public void setVehicleType(int vehicleType) {
+        this.vehicleType = vehicleType;
+    }
+
+    public String getRoadId() {
+        return roadId;
+    }
+
+    public void setRoadId(String roadId) {
+        this.roadId = roadId;
+    }
+
+    public String getLaneId() {
+        return laneId;
+    }
+
+    public void setLaneId(String laneId) {
+        this.laneId = laneId;
+    }
+
+    public int getLaneNum() {
+        return laneNum;
+    }
+
+    public void setLaneNum(int laneNum) {
+        this.laneNum = laneNum;
+    }
+
+    public double getRateLimiting() {
+        return rateLimiting;
+    }
+
+    public void setRateLimiting(double rateLimiting) {
+        this.rateLimiting = rateLimiting;
+    }
+
+    public String getTileId() {
+        return tileId;
+    }
+
+    public void setTileId(String tileId) {
+        this.tileId = tileId;
+    }
+
+    public double getRoadWidth() {
+        return roadWidth;
+    }
+
+    public void setRoadWidth(double roadWidth) {
+        this.roadWidth = roadWidth;
+    }
+
+    @Override
+    public String toString() {
+        return "CloudLocationInfo{" +
+                "lat=" + lat +
+                ", lon=" + lon +
+                ", heading=" + heading +
+                ", systemTime=" + systemTime +
+                ", satelliteTime=" + satelliteTime +
+                ", alt=" + alt +
+                ", speed=" + speed +
+                ", vehicleType=" + vehicleType +
+                ", roadId='" + roadId + '\'' +
+                ", laneId='" + laneId + '\'' +
+                ", laneNum=" + laneNum +
+                ", rateLimiting=" + rateLimiting +
+                ", tileId=" + tileId +
+                ", roadWidth=" + roadWidth +
+                '}';
+    }
+
+    public String print() {
+        return "CloudLocation{ lon: " + lon + " lat: " + lat + " heading: " + heading + " speed: "
+                + speed + " vehicleType: " + vehicleType + "}";
+    }
+
+    @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;
+    }
+
+    @RequiresApi(api = Build.VERSION_CODES.KITKAT)
+    @Override
+    public int hashCode() {
+        return Objects.hash(lat, lon);
+    }
+}

services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java

@@ -3,8 +3,8 @@ package com.mogo.service.impl.adas;
 import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.commons.utils.MortonCode;
 import com.mogo.map.uicontroller.IMogoMapUIController;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.service.IMogoServiceApis;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.adas.entity.ADASWarnMessage;
 import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;

services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java

@@ -15,7 +15,6 @@ import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.network.SubscribeImpl;
 import com.mogo.commons.network.Utils;
 import com.mogo.map.uicontroller.EnumMapUI;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.service.adas.IMogoADASController;
 import com.mogo.service.adas.IMogoAdasCarDataCallback;
@@ -25,6 +24,7 @@ import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
 import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
 import com.mogo.service.adas.RemoteControlAutoPilotParameters;
 import com.mogo.service.adas.entity.ADASCarStateInfo;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.adas.entity.ADASWarnMessage;
 import com.mogo.service.adas.entity.AdasOCHData;
 import com.mogo.service.adas.entity.CarModelListResponse;
@@ -148,8 +148,10 @@ public class MogoADASController implements IMogoADASController {
 
             mLastLon = stateInfo.getValues().getLon();
             mLastLat = stateInfo.getValues().getLat();
-            if ( mMogoAdasCarDataCallback != null ) {
-                mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInfo );
+            mSpeed = stateInfo.getValues().getGnss_speed();
+            satelliteTime = stateInfo.getValues().getSystemTime();
+            if (mMogoAdasCarDataCallback != null) {
+                mMogoAdasCarDataCallback.onAdasCarDataCallback(stateInfo);
             }
             Logger.i( "ADAS-LOC-timer", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
         }
@@ -457,12 +459,18 @@ public class MogoADASController implements IMogoADASController {
     private double mLastLon;
     private double mLastLat;
     private double mSpeed;
+    private String satelliteTime;
 
     @Override
     public double getLastSpeed() {
         return mSpeed;
     }
 
+    @Override
+    public String getSatelliteTime() {
+        return satelliteTime;
+    }
+
     public double getLastLat() {
         return mLastLat;
     }
@@ -831,7 +839,7 @@ public class MogoADASController implements IMogoADASController {
     }
 
     @Override
-    public void mockAdasRecognized( List< ADASRecognizedResult > recognizedResults ) {
+    public void mockAdasRecognized( List<ADASRecognizedResult> recognizedResults ) {
         if ( !mMogoAdasRecognizedDataCallbacks.isEmpty() ) {
             for ( IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks ) {
                 if ( callback == null ) {

services/mogo-service/src/main/java/com/mogo/service/impl/connection/MogoSocketManager.java

@@ -3,11 +3,11 @@ package com.mogo.service.impl.connection;
 import android.content.Context;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.cloud.socket.entity.MsgBody;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.service.connection.IMogoMsgAckListener;
 import com.mogo.service.connection.IMogoOnMessageListener;
 import com.mogo.service.connection.IMogoSocketManager;
-import com.mogo.service.connection.MsgBody;
 import com.mogo.utils.logger.Logger;
 
 import java.lang.reflect.Method;
@@ -53,7 +53,7 @@ public class MogoSocketManager implements IMogoSocketManager {
     }
 
     @Override
-    public void sendMsg( MsgBody body, IMogoMsgAckListener listener ) {
+    public void sendMsg(MsgBody body, IMogoMsgAckListener listener ) {
         if ( mDelegate != null ) {
             mDelegate.sendMsg( body, listener );
         }