Merge branch 'dev_robotaxi-d-app-module_290_220715_2.9.0' into dev_robotaxi-d-app-module_290_220715_2.9.0_interface_subscribe

2022-08-05 14:47:48 +08:00
parent 6d5bbf533e 049824d0d6
commit fa1e5ed21f
63 changed files with 1252 additions and 1037 deletions
--- a/OCH/mogo-och-bus-passenger/build.gradle
+++ b/OCH/mogo-och-bus-passenger/build.gradle
@@ -29,15 +29,13 @@ android {
    }

    buildTypes {
-        buildTypes {
-            release {
-                minifyEnabled false
-                proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-            }
-            debug {
-                minifyEnabled false
-                proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-            }
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+        debug {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
        }
    }
 }
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/bean/BusPassengerStation.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/bean/BusPassengerStation.java
@@ -12,6 +12,8 @@ public class BusPassengerStation {
    private String cityCode;
    private double lon; //高精坐标
    private double lat; //高精坐标
+    private double gcjLon; //高德坐标
+    private double gcjLat; //高德坐标
    private int businessType; //站点类型，9:taxi，10:bus
    private int status;
    private int siteId;
@@ -72,6 +74,13 @@ public class BusPassengerStation {
        return cityCode;
    }

+    public double getGcjLon() {
+        return gcjLon;
+    }
+
+    public double getGcjLat() {
+        return gcjLat;
+    }

    public int getBusinessType() {
        return businessType;
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -84,6 +84,10 @@ public class BusPassengerModel {

    private double mLongitude, mLatitude;

+    List<BusPassengerStation> mStations = new ArrayList<>();
+    private int mNextStationIndex = 0;// 要到达站的index
+    private List<LatLng> mTwoStationsRouts = new ArrayList<>();
+
    private BusPassengerModel() {
    }

@@ -147,12 +151,22 @@ public class BusPassengerModel {
            mRouteLineInfoCallback.updateLineInfo(result.getName(),result.getRunningDur());
            if (result.getSites() != null){
                List<BusPassengerStation> stations = result.getSites();
+                mStations.clear();
+                mStations.addAll(stations);
                for (int i = 0; i< stations.size(); i++){
                     BusPassengerStation station = stations.get(i);
                     if (station.getDrivingStatus() == STATION_STATUS_STOPPED && station.isLeaving() && i+1 < stations.size()){
                         mRouteLineInfoCallback.updateStationsInfo(stations,i+1,false);
+                         if(mNextStationIndex != i+1){
+                             mTwoStationsRouts.clear();
+                             startRemainRouteInfo();
+                         }
+                         mNextStationIndex = i+1;
                         return;
                     }else if (station.getDrivingStatus() == STATION_STATUS_STOPPED && !station.isLeaving()){
+                         if (i == 0){
+                             startOrStopRouteAndWipe(false);
+                         }
                         startOrStopCalculateRouteInfo(false);
                         mRouteLineInfoCallback.updateStationsInfo(stations,i,true);
                         return;
@@ -286,6 +300,8 @@ public class BusPassengerModel {
        }
    };

+    private volatile int mPreAutoStatus = -1;
+
    private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener(){

        @Override
@@ -301,17 +317,27 @@ public class BusPassengerModel {

        @Override
        public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-//            if (autopilotStatusInfo == null) return;
-//            int state = autopilotStatusInfo.getState();
-//            CallerLogger.INSTANCE.d( M_BUS_P + TAG, "state = %s", state );
-//            if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
-//                //2022.7.20 自动驾驶更换成带档位的
-////                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
-//            } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
-////                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotEnable();
-//            } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
-////                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotDisable();
-//            }
+            if (autopilotStatusInfo == null) return;
+            int state = autopilotStatusInfo.getState();
+            if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
+                //2022.7.20 自动驾驶更换成带档位的
+//                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
+            } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
+                if(state != mPreAutoStatus){
+                    mTwoStationsRouts.clear();
+                }
+//                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotEnable();
+            } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
+                if(state != mPreAutoStatus){
+                    mTwoStationsRouts.clear();
+                }
+//                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotDisable();
+            }else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING){
+                if(state != mPreAutoStatus){
+                    mTwoStationsRouts.clear();
+                }
+            }
+            mPreAutoStatus = state;
        }

        @Override
@@ -354,7 +380,6 @@ public class BusPassengerModel {
            List<MessagePad.Location> routePoints = routeList.getWayPointsList();
            if (null != routePoints && routePoints.size() > 0){
                updateRoutePoints(routePoints);
-                startRemainRouteInfo();
                setRouteLineMarker();
                startToRouteAndWipe();
            }
@@ -366,31 +391,63 @@ public class BusPassengerModel {
        List<LatLng> latLngModels = CoordinateCalculateRouteUtil
                .coordinateConverterWgsToGcjListCommon(mContext,routePoints);
        mRoutePoints.addAll(latLngModels);
+        calculateTwoStationsRoute();
+    }

-        float sumLength = CoordinateCalculateRouteUtil.calculateRouteSumLength(mRoutePoints);
-        SharedPrefsMgr.getInstance(mContext).putInt(BusPassengerConst.BUS_SP_KEY_ORDER_SUM_DIS,(int) sumLength);
-
-        if (mAutopilotPlanningCallback != null){
-            mAutopilotPlanningCallback.updateTotalDistance();
+    private void calculateTwoStationsRoute(){
+        //找出前往站对应的轨迹点，拿出两站点的集合
+        CallerLogger.INSTANCE.d(M_BUS_P + TAG, "mRoutePoints.size() = " + mRoutePoints.size());
+        if (mRoutePoints.size() > 0) {
+            if (mStations.size() > 2){ //两个站点以上要计算两个站点间的估计路线
+                if (mNextStationIndex <= mStations.size()-1 && mNextStationIndex - 1 >=0){
+                    mTwoStationsRouts.clear();
+                    BusPassengerStation stationNext = mStations.get(mNextStationIndex);
+                    BusPassengerStation stationCur = mStations.get(mNextStationIndex - 1);
+                    //当前站在轨迹中对应的点
+                    int currentRouteIndex = CoordinateCalculateRouteUtil.getArrivedPointIndex(mRoutePoints
+                            ,stationCur.getGcjLon(),stationCur.getGcjLat());
+                    //要前往的站在轨迹中对应的点
+                    int nextRouteIndex = CoordinateCalculateRouteUtil.getArrivedPointIndex(mRoutePoints
+                            ,stationNext.getGcjLon(),stationNext.getGcjLat());
+                    mTwoStationsRouts.addAll(mRoutePoints.subList(currentRouteIndex,nextRouteIndex));
+                }
+            }else { //只有两个站点的时候整个路线就是两个站点之间的轨迹
+                mTwoStationsRouts.clear();
+                mTwoStationsRouts.addAll(mRoutePoints);
+            }
+            if (mTwoStationsRouts.size() > 0){
+                float sumLength = CoordinateCalculateRouteUtil.calculateRouteSumLength(mTwoStationsRouts);
+                SharedPrefsMgr.getInstance(mContext).putInt(BusPassengerConst.BUS_SP_KEY_ORDER_SUM_DIS,(int) sumLength);
+                if (mAutopilotPlanningCallback != null){
+                    mAutopilotPlanningCallback.updateTotalDistance();
+                }
+            }
        }
    }

    public void dynamicCalculateRouteInfo() {
-        List<LatLng> lastPoints = CoordinateCalculateRouteUtil
-                .getRemainPointListByCompare(mRoutePoints,mLongitude,mLatitude);
-
-        float lastSumLength = 0;
-        if (lastPoints.size() == 1){ //只是最后一个点，计算当前位置和最后一个点的距离
-            lastSumLength = CoordinateUtils.calculateLineDistance(
-                    lastPoints.get(0).longitude, lastPoints.get(0).latitude,
-                    mLongitude, mLatitude);
-        }else {
-            lastSumLength = CoordinateCalculateRouteUtil.calculateRouteSumLength(lastPoints);
+        //计算当前位置和下一站的剩余点集合
+        //计算剩余点总里程和时间
+        if (mTwoStationsRouts.size() == 0){
+            calculateTwoStationsRoute();
        }
-        double lastTime = lastSumLength / BusPassengerConst.BUS_AVERAGE_SPEED * 3.6 ; //秒
+        if (mTwoStationsRouts.size() > 0){
+            List<LatLng> lastPoints = CoordinateCalculateRouteUtil
+                    .getRemainPointListByCompare(mTwoStationsRouts,mLongitude,mLatitude);

-        if (mAutopilotPlanningCallback != null){
-            mAutopilotPlanningCallback.routePlanningToNextStationChanged((long)lastSumLength,(long) lastTime);
+            float lastSumLength = 0;
+            if (lastPoints.size() == 1){ //只是最后一个点，计算当前位置和最后一个点的距离
+                lastSumLength = CoordinateUtils.calculateLineDistance(
+                        lastPoints.get(0).longitude, lastPoints.get(0).latitude,
+                        mLongitude, mLatitude);
+            }else {
+                lastSumLength = CoordinateCalculateRouteUtil.calculateRouteSumLength(lastPoints);
+            }
+            double lastTime = lastSumLength / BusPassengerConst.BUS_AVERAGE_SPEED * 3.6 ; //秒
+            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "lastSumLength = " + lastSumLength);
+            if (mAutopilotPlanningCallback != null){
+                mAutopilotPlanningCallback.routePlanningToNextStationChanged((long)lastSumLength,(long) lastTime);
+            }
        }
    }

@@ -441,10 +498,11 @@ public class BusPassengerModel {
     * @param isStart
     */
    public void startOrStopCalculateRouteInfo(boolean isStart) {
-        CallerLogger.INSTANCE.d(M_BUS_P + TAG, "startOrStopOrderLoop() " + isStart);
+        CallerLogger.INSTANCE.d(M_BUS_P + TAG, "startOrStopCalculateRouteInfo() " + isStart);
        if (isStart) {
            BusPassengerModelLoopManager.getInstance().startCalculateRouteInfoLoop();
        } else {
+            mTwoStationsRouts.clear();
            BusPassengerModelLoopManager.getInstance().stopCalculateRouteInfLoop();
        }
    }
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java
@@ -82,7 +82,7 @@ public class BaseBusPassengerPresenter extends Presenter<BusPassengerRouteFragme

    @Override
    public void onAutopilotArriveEnd() {
-        mView.showOverviewFragment();
+//        mView.showOverviewFragment();
    }

    @Override
@@ -139,7 +139,7 @@ public class BaseBusPassengerPresenter extends Presenter<BusPassengerRouteFragme
    public void routeResult(List<LatLng> models, int haveArrivedIndex) {
        CallerLogger.INSTANCE.d(M_BUS_P + TAG, "routeResult:" + models.size()
                + " haveArrivedIndex = "+haveArrivedIndex);
-        mView.routeResult(models,haveArrivedIndex);
+        runOnUIThread(() ->mView.routeResult(models,haveArrivedIndex));
    }

    @Override
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerBaseFragment.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerBaseFragment.java
@@ -107,13 +107,13 @@ public abstract class BusPassengerBaseFragment<V extends IView, P extends Presen
            if (currentIndex == 0){
                mCurrentArriveStationTitle.setText(getResources().getString(R.string.bus_p_cur_station_title_init));
                mCurrentArriveTip.setText(getResources().getString(R.string.bus_p_cur_station_arrived_tip_init));
-                mProgressBar.setVisibility(View.GONE);
+                removeProgressBar();
                return;
            }
            if (isArrived){
                mCurrentArriveStationTitle.setText(getResources().getString(R.string.bus_p_cur_station_title));
                mCurrentArriveTip.setText(getResources().getString(R.string.bus_p_cur_station_arrived_tip));
-                mProgressBar.setVisibility(View.GONE);
+                removeProgressBar();
            }else {
                mCurrentArriveStationTitle.setText(getResources().getString(R.string.bus_p_cur_next_station_title));
                mProgressBar.setVisibility(View.VISIBLE);
@@ -122,10 +122,15 @@ public abstract class BusPassengerBaseFragment<V extends IView, P extends Presen

    }

+    private void removeProgressBar() {
+        mProgressBar.setProgress(0);
+        mProgressBar.setMax(0);
+        mProgressBar.setVisibility(View.GONE);
+    }
+
    public void updateRoutePlanningToNextStation(long meters, long timeInSecond){
        //更新进度条
        updateProgressBar(meters);
-
        String dis = "0";
        String disUnit = "公里";
        if (meters > 0){
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
@@ -298,6 +298,8 @@ public class BusPassengerMapDirectionView
    }

    public void clearCoordinatesLatLng(){
+        textureList.clear();
+        texIndexList.clear();
        mCoordinatesLatLng.clear();
        mLinePointsLatLng.clear();
    }
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
@@ -248,8 +248,8 @@ public class BusPassengerRouteFragment extends
        if (currentStationIndex == 0 && isArrived){ //到达始发站且并未出发， 恢复站点marker 清楚路径 清空路径点
            SharedPrefsMgr.getInstance(getContext())
                    .remove(BusPassengerConst.BUS_SP_KEY_ORDER_SUM_DIS);
-            clearPolyline();
            if (mMapDirectionView != null) mMapDirectionView.clearCoordinatesLatLng();
+            clearPolyline();
        }

        if (stations.size() > 0){
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
@@ -7,7 +7,7 @@

    <com.mogo.och.common.module.wigets.OCHBorderShadowLayout
        android:id="@+id/edge_view"
-        android:layout_width="720px"
+        android:layout_width="725px"
        android:layout_height="match_parent"
        app:shadowColor="@color/bus_p_route_view_left_edge_shadow"
        app:xOffset="0px"
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -539,8 +539,9 @@ public class BusOrderModel {
     */
    private void startAutopilot(boolean isRestart) {

-        isArrivedStation = false;
+        triggerStartServiceEvent(isRestart, false);

+        isArrivedStation = false;
        BusStationBean currentStation = stationList.get( backgroundCurrentStationIndex);
        BusStationBean nextStation = stationList.get( backgroundCurrentStationIndex + 1);

@@ -573,8 +574,6 @@ public class BusOrderModel {
                +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);

-        triggerStartServiceEvent(isRestart, false);
-
        if (mControllerStatusCallback != null) {
            mControllerStatusCallback.startOpenAutopilot();
        }
@@ -990,7 +989,7 @@ public class BusOrderModel {
    }

    public void triggerStartServiceEvent(boolean isRestart, boolean send) {
-        if (stationList == null || backgroundCurrentStationIndex >= stationList.size() || backgroundCurrentStationIndex == 0) {
+        if (stationList == null || backgroundCurrentStationIndex >= stationList.size()-1) {
            return;
        }
        BusStationBean currentStation = stationList.get( backgroundCurrentStationIndex);
--- a/OCH/mogo-och-taxi-passenger/build.gradle
+++ b/OCH/mogo-och-taxi-passenger/build.gradle
@@ -29,15 +29,13 @@ android {
    }

    buildTypes {
-        buildTypes {
-            release {
-                minifyEnabled false
-                proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-            }
-            debug {
-                minifyEnabled false
-                proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-            }
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+        debug {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
        }
    }
 }
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/mulprocess/OrderServiceImpl.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/mulprocess/OrderServiceImpl.java
@@ -2,15 +2,19 @@ package com.mogo.och.taxi.passenger.mulprocess;

 import android.os.RemoteException;

+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.taxi.passenger.ui.leftmenu.LeftMenuOpen;
 import com.mogo.och.taxi.passenger.ui.leftmenu.OverlayLeftViewUtils;

 public class OrderServiceImpl extends ILeftMenuService.Stub {

+    public static final String TAG = "mulprocessOrderServiceImpl";
+
    @Override
    public void transmissionIndex(int index) throws RemoteException {
-
+        CallerLogger.INSTANCE.d(SceneConstant.M_TAXI_P + TAG, "跨进程 transmissionIndex"+index);
        UiThreadHandler.getsUiHandler().post(() -> {
            OverlayLeftViewUtils.INSTANCE.transmissionIndexGet(index);
        });
@@ -18,11 +22,13 @@ public class OrderServiceImpl extends ILeftMenuService.Stub {

    @Override
    public void registerCallback(ICallback cb) throws RemoteException {
+        CallerLogger.INSTANCE.d(SceneConstant.M_TAXI_P + TAG, "跨进程 registerCallback");
        LeftMenuOpen.INSTANCE.registerCallbackHost(cb);
    }

    @Override
    public void unRegisterCallback(ICallback cb) throws RemoteException {
+        CallerLogger.INSTANCE.d(SceneConstant.M_TAXI_P + TAG, "跨进程 unRegisterCallback");
        LeftMenuOpen.INSTANCE.unregisterCallbackHost(cb);
    }

--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java
@@ -79,7 +79,7 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
        if (models == null) return;
        CallerLogger.INSTANCE.d(M_TAXI_P + TAG, "routeResultByServer:" + models.size()
             + " haveArrivedIndex = " + haveArrivedIndex);
-        mView.routeResultByServer(models,haveArrivedIndex);
+        runOnUIThread(() ->mView.routeResultByServer(models,haveArrivedIndex));
    }


@@ -94,9 +94,9 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
                TaxiPassengerModel.getInstance().queryOrderRouteList();
            }

-            mView.updateOrderStatusView(order);
+            runOnUIThread(() ->mView.updateOrderStatusView(order));
        }else if (mCurrentPassengerOrder.orderStatus != order.orderStatus) {
-            mView.updateOrderStatusView(order);
+            runOnUIThread(() ->mView.updateOrderStatusView(order));

            if (TaxiPassengerOrderStatusEnum.OnTheWayToEnd.getCode() == order.orderStatus){
                CallerLogger.INSTANCE.d(M_TAXI_P + TAG, "-----OnTheWayToEndStation----");
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/leftmenu/LeftMenuOpen.kt
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/leftmenu/LeftMenuOpen.kt
@@ -10,6 +10,8 @@ import android.view.MotionEvent
 import android.view.View
 import android.view.ViewGroup
 import android.view.WindowManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI_P
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.eagle.core.utilcode.util.Utils
 import com.mogo.och.taxi.passenger.R
@@ -25,6 +27,8 @@ import rx.schedulers.Schedulers
@SuppressLint("StaticFieldLeak")
 object LeftMenuOpen {

+    const val TAG = "mulprocessLeftMenuOpen"
+
    private var windowView: View? = null
    private var wl: WindowManager.LayoutParams? = null
    private var windowManager: WindowManager? = null
@@ -43,7 +47,7 @@ object LeftMenuOpen {

    var checkIndex = OverlayLeftViewUtils.LIVE
    private var lastClickTime = 0L
-    private const val FAST_CLICK_DELAY_TIME = 1000 // 防止事件发送过快
+    private const val FAST_CLICK_DELAY_TIME = 1300 // 防止事件发送过快


    fun setValue(
@@ -51,7 +55,8 @@ object LeftMenuOpen {
        wl: WindowManager.LayoutParams?,
        windowManager: WindowManager?,
        close: (view: View, windowManager: WindowManager?) -> Unit,
-        open: (view: View, windowManager: WindowManager?) -> Unit
+        open: (view: View, windowManager: WindowManager?) -> Unit,
+        isMainProcess: Boolean
    ) {
        this.open = open
        this.close = close
@@ -61,7 +66,9 @@ object LeftMenuOpen {
        dragList.forEach {
            registerDragView(it)
        }
-        registerC()
+        if(!isMainProcess) {
+            registerC()
+        }
    }

    fun clearValue() {
@@ -168,9 +175,9 @@ object LeftMenuOpen {
    fun registerDragView(view: View?) {
        if (view != null) {
            dragList.add(view)
-            if (orderService == null) {
-                registerC()
-            }
+//            if (orderService == null) {
+//                registerC()
+//            }
            view.setOnTouchListener(ItemViewTouchListener())
            view.setOnClickListener {
                open?.let { it1 -> it1(windowView!!, windowManager) }
@@ -193,6 +200,7 @@ object LeftMenuOpen {
    }

    fun transmissionIndex(index:Int){
+        CallerLogger.d(M_TAXI_P + TAG, "tran--transmissionIndex---$index")
        if (orderService == null) {
            registerC()
        }
@@ -200,22 +208,23 @@ object LeftMenuOpen {
    }

    fun registerCallbackHost(cb:ICallback?){
-        if (orderService == null) {
-            registerC()
-        }
+//        if (orderService == null) {
+//            registerC()
+//        }
        cb?.let {
-            icallbacks?.register(it)
+            icallbacks.register(it)
        }
    }

    fun unregisterCallbackHost(cb:ICallback?){
        cb?.let {
-            icallbacks?.unregister(it)
+            icallbacks.unregister(it)
        }
    }


    fun registerCallback(cb:ICallback?){
+        CallerLogger.d(M_TAXI_P + TAG, "tran--registerCallback--注册")
        if (orderService == null) {
            registerC()
        }
@@ -225,6 +234,7 @@ object LeftMenuOpen {
    }

    fun unregisterCallback(cb:ICallback?){
+        CallerLogger.d(M_TAXI_P + TAG, "tran--unregisterCallback--反注册")
        cb?.let {
            orderService?.unRegisterCallback(it)
        }
@@ -240,15 +250,20 @@ object LeftMenuOpen {
            Observable.empty<String?>().subscribeOn(Schedulers.io())
                .subscribe(object : Observer<String?> {
                    override fun onCompleted() {
-                        val len = icallbacks.beginBroadcast()
-                        for (i in 0 until len) {
-                            try {
-                                icallbacks.getBroadcastItem(i).onResult(meters, timeInSecond, speed)
-                            } catch (e: RemoteException) {
-                                e.printStackTrace()
+                        CallerLogger.d(M_TAXI_P + TAG, "callCallBack$meters--$timeInSecond--$speed")
+                        try {
+                            val len = icallbacks.beginBroadcast()
+                            for (i in 0 until len) {
+                                try {
+                                    icallbacks.getBroadcastItem(i).onResult(meters, timeInSecond, speed)
+                                } catch (e: RemoteException) {
+                                    e.printStackTrace()
+                                }
                            }
+                            icallbacks.finishBroadcast()
+                        }catch (e:Exception){
+                            CallerLogger.e(M_TAXI_P + TAG, "callCallBack${e.message}")
                        }
-                        icallbacks.finishBroadcast()
                    }
                    override fun onError(e: Throwable?) {}
                    override fun onNext(t: String?) {}
@@ -273,7 +288,12 @@ object LeftMenuOpen {
     * 主进程在显示是主动调用
     * video进程在天津View是判断是否调用了
     */
+    @Synchronized
    private fun registerC() {
+        if(orderService!=null){
+            return
+        }
+        CallerLogger.d(M_TAXI_P + TAG, "tran--registerC--获取jni")
        val resolver: ContentResolver = Utils.getApp().contentResolver

        cu = resolver.query(
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/leftmenu/OverlayLeftViewUtils.kt
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/leftmenu/OverlayLeftViewUtils.kt
@@ -177,7 +177,7 @@ object OverlayLeftViewUtils {

            addTarget(context)

-            LeftMenuOpen.setValue(view, params, windowManager,::close,::open)
+            LeftMenuOpen.setValue(view, params, windowManager,::close,::open,isMainProcess)
            try {
                windowManager!!.addView(overlayView, params)
                checkProcess()
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/video/VideoActivity.kt
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/video/VideoActivity.kt
@@ -11,6 +11,8 @@ import androidx.appcompat.app.AppCompatActivity
 import androidx.appcompat.widget.AppCompatImageView
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.recyclerview.widget.RecyclerView
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.common.module.utils.NumberFormatUtil
 import com.mogo.och.taxi.passenger.R
@@ -52,6 +54,7 @@ class VideoActivity : AppCompatActivity() {
    private lateinit var acivTitleIcon: AppCompatImageView
    private lateinit var tvTitle: TextView
    private var subscribe: Subscription?=null
+    private val TAG = "mulprocessVideoActivity"

    private val arrayListOf = ArrayList<TaxiPassengerVideoPlay>()

@@ -352,7 +355,7 @@ class VideoActivity : AppCompatActivity() {
            }

        }
-        subscribe = Observable.interval(0, 8, TimeUnit.SECONDS)
+        subscribe = Observable.interval(2, 8, TimeUnit.SECONDS)
            .subscribeOn(Schedulers.io())
            .observeOn(AndroidSchedulers.mainThread())
            .subscribe(object : Observer<Long> {
@@ -387,15 +390,13 @@ class VideoActivity : AppCompatActivity() {
                }
            }
        }
-        subscribe?.let {
-            if(it.isUnsubscribed){
-                it.unsubscribe()
-            }
-        }
+        cancleSubscribe()
    }

    @Subscribe(threadMode = ThreadMode.MAIN)
    fun finishActivity(event: FinishActivity){
+        CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "finishActivity(event)")
+        cancleSubscribe()
        val intent = Intent()
        val parse = Uri.parse("mogo://launcher/main/switch2?type=launch")
        intent.data = parse
@@ -405,6 +406,7 @@ class VideoActivity : AppCompatActivity() {
    }

    override fun onDestroy() {
+        CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "onDestroy()")
        super.onDestroy()
        EventBus.getDefault().unregister(this)
        LeftMenuOpen.unregisterCallback(callBack)
@@ -412,6 +414,15 @@ class VideoActivity : AppCompatActivity() {
        OverlayLeftViewUtils.dismissOverlayView(false)
        FloatingDistanceInfoUtils.dismissOverlayView()
        FixMemoryLeak.fixLeak(this)
+        cancleSubscribe()
+    }
+
+    private fun cancleSubscribe(){
+        subscribe?.let {
+            if(!it.isUnsubscribed){
+                it.unsubscribe()
+            }
+        }
    }

    private fun releaseOnNewInstance() {
--- a/OCH/mogo-och-taxi/build.gradle
+++ b/OCH/mogo-och-taxi/build.gradle
@@ -29,15 +29,13 @@ android {
    }

    buildTypes {
-        buildTypes {
-            release {
-                minifyEnabled false
-                proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-            }
-            debug {
-                minifyEnabled false
-                proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-            }
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+        debug {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
        }
    }
 }
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/NaviToDestinationModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/NaviToDestinationModel.java
@@ -14,7 +14,6 @@ import com.amap.api.navi.model.AMapLaneInfo;
 import com.amap.api.navi.model.AMapModelCross;
 import com.amap.api.navi.model.AMapNaviCameraInfo;
 import com.amap.api.navi.model.AMapNaviCross;
-import com.amap.api.navi.model.AMapNaviInfo;
 import com.amap.api.navi.model.AMapNaviLocation;
 import com.amap.api.navi.model.AMapNaviRouteNotifyData;
 import com.amap.api.navi.model.AMapNaviTrafficFacilityInfo;
@@ -23,7 +22,6 @@ import com.amap.api.navi.model.AimLessModeCongestionInfo;
 import com.amap.api.navi.model.AimLessModeStat;
 import com.amap.api.navi.model.NaviInfo;
 import com.amap.api.navi.model.NaviLatLng;
-import com.autonavi.tbt.TrafficFacilityInfo;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
@@ -279,6 +277,11 @@ public class NaviToDestinationModel implements AMapNaviListener {

    }

+    @Override
+    public void onGpsSignalWeak(boolean b) {
+
+    }
+
    @Override
    public void updateCameraInfo(AMapNaviCameraInfo[] aMapCameraInfos) {

@@ -289,21 +292,11 @@ public class NaviToDestinationModel implements AMapNaviListener {

    }

-    @Override
-    public void onNaviInfoUpdated(AMapNaviInfo aMapNaviInfo) {
-
-    }
-
    @Override
    public void OnUpdateTrafficFacility(AMapNaviTrafficFacilityInfo aMapNaviTrafficFacilityInfo) {
        //已过时
    }

-    @Override
-    public void OnUpdateTrafficFacility(TrafficFacilityInfo trafficFacilityInfo) {
-
-    }
-
    @Override
    public void showCross(AMapNaviCross aMapNaviCross) {
        //显示放大图回调
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -1208,8 +1208,10 @@ public class TaxiModel {

        @Override
        public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
-            CallerLogger.INSTANCE.d(M_TAXI + TAG, "onAutopilotRotting = "
-                    + GsonUtil.jsonFromObject(routeList));
+            if (null != routeList && routeList.getWayPointsList() != null){
+                CallerLogger.INSTANCE.d(M_TAXI + TAG, "getWayPointsList = "
+                        + routeList.getWayPointsList().size());
+            }
            if (null != routeList && routeList.getWayPointsList().size() > 0) {
                updateOrderRoute(routeList.getWayPointsList());
                updateOrderRouteInfo(routeList.getWayPointsList());
@@ -1268,7 +1270,10 @@ public class TaxiModel {
        Logger.d(M_TAXI + TAG, "--------计算出sumLength开始---------- ");

        //转换成高德坐标系
-        mRoutePoints = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjListCommon(mContext, models);
+        if (mRoutePoints.size() > 0){
+            mRoutePoints.clear();
+        }
+        mRoutePoints.addAll(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjListCommon(mContext, models));
        startDynamicCalculateRouteInfo();
    }

@@ -1287,30 +1292,32 @@ public class TaxiModel {
     * 实时计算当前剩余里程和时间
     */
    public void dynamicCalculateRouteInfo() {
-        List<LatLng> lastPoints = CoordinateCalculateRouteUtil
-                .getRemainPointListByCompare(mRoutePoints, mLongitude, mLatitude);
+        if (mRoutePoints.size() > 0){
+            List<LatLng> lastPoints = CoordinateCalculateRouteUtil
+                    .getRemainPointListByCompare(mRoutePoints, mLongitude, mLatitude);

-        float lastSumLength = 0;
+            float lastSumLength = 0;

-        if (lastPoints.size() == 1) { //只是最后一个点，计算当前位置和最后一个点的距离
-            lastSumLength = CoordinateUtils.calculateLineDistance(
-                    lastPoints.get(0).longitude, lastPoints.get(0).latitude,
-                    mLongitude, mLatitude);
-        } else {
-            lastSumLength = CoordinateCalculateRouteUtil.calculateRouteSumLength(lastPoints);
+            if (lastPoints.size() == 1) { //只是最后一个点，计算当前位置和最后一个点的距离
+                lastSumLength = CoordinateUtils.calculateLineDistance(
+                        lastPoints.get(0).longitude, lastPoints.get(0).latitude,
+                        mLongitude, mLatitude);
+            } else {
+                lastSumLength = CoordinateCalculateRouteUtil.calculateRouteSumLength(lastPoints);
+            }
+
+            double lastTime = lastSumLength / TaxiConst.TAXI_AVERAGE_SPEED * 3.6; //秒
+            Logger.d(M_TAXI + "dynamicCalculateRouteInfo"
+                    , "---lastSumLength: " + lastSumLength + "----lastTime : " + lastTime
+                            + " thread = "+ Thread.currentThread().getName());
+
+            mCurrentOCHOrder.decreaseTravelDistance(lastSumLength);
+            if (mOrderStatusCallback != null) {
+                mOrderStatusCallback.onCurrentOrderDistToEndChanged((long) lastSumLength, (long) lastTime);
+            }
+
+            reportOrderRemain((long) lastSumLength, (long) lastTime);
        }
-
-        double lastTime = lastSumLength / TaxiConst.TAXI_AVERAGE_SPEED * 3.6; //秒
-        Logger.d(M_TAXI + "dynamicCalculateRouteInfo"
-                , "---lastSumLength: " + lastSumLength + "----lastTime : " + lastTime
-           + " thread = "+ Thread.currentThread().getName());
-
-        mCurrentOCHOrder.decreaseTravelDistance(lastSumLength);
-        if (mOrderStatusCallback != null) {
-            mOrderStatusCallback.onCurrentOrderDistToEndChanged((long) lastSumLength, (long) lastTime);
-        }
-
-        reportOrderRemain((long) lastSumLength, (long) lastTime);
    }

    /**
@@ -1322,7 +1329,7 @@ public class TaxiModel {
                    new TaxiServiceCallback<QueryOrderRouteResp>() {
                        @Override
                        public void onSuccess(QueryOrderRouteResp data) {
-                            if (data != null && data.data != null) {
+                            if (data != null && data.data != null && mRoutePoints.size() == 0) {
                                mRoutePoints.clear();
                                mRoutePoints.addAll(data.data);
                            }
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
@@ -167,6 +167,8 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
        if (order.orderStatus == TaxiOrderStatusEnum.JourneyCompleted.getCode()) {
            mCurrentOrder = null;
            isHaveBeingOrder(false);
+            mDistanceAndTime2.setText("距离 - - 公里，用时 - - 分");
+            mDistanceAndTime3.setText("距离 - - 公里，用时 - - 分");
            return;
        }
        mOrderNo = order.orderNo;
@@ -407,6 +409,8 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
            if (status == TaxiOrderStatusEnum.None.getCode() || status == TaxiOrderStatusEnum.Cancel.getCode() || status == TaxiOrderStatusEnum.JourneyCompleted.getCode()) {
                isHaveBeingOrder(false);
                mCurrentOrder = null;
+                mDistanceAndTime2.setText("距离 - - 公里，用时 - - 分");
+                mDistanceAndTime3.setText("距离 - - 公里，用时 - - 分");
            } else {
                isHaveBeingOrder(true);
            }
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -230,7 +230,7 @@ aspectjx {
 dependencies {
    implementation fileTree(dir: 'libs', include: ['*.jar', '*.aar'])
    //Crash日志收集
-    implementation rootProject.ext.dependencies.crashSdk
+//    implementation rootProject.ext.dependencies.crashSdk
    implementation rootProject.ext.dependencies.androidxappcompat
    implementation rootProject.ext.dependencies.arouter
    implementation rootProject.ext.dependencies.boostmultidex
--- a/app/src/androidTest/java/com/mogo/functions/test/AutoPilotBadCaseTest.kt
+++ b/app/src/androidTest/java/com/mogo/functions/test/AutoPilotBadCaseTest.kt
@@ -52,7 +52,7 @@ class AutoPilotBadCaseTest {
                    it.timestamp = SimpleDateFormat("yyyyMMddHHmmss").format(Date())
                    index++
                }
-                CallerDevaToolsManager.onReceiveBadCaseRecord(builder.build())
+              //  CallerDevaToolsManager.onReceiveBadCaseRecord(builder.build())
            }
            .flowOn(Dispatchers.Default)
            .collect()
@@ -86,7 +86,7 @@ class AutoPilotBadCaseTest {
                    it.timestamp = SimpleDateFormat("yyyyMMddHHmmss").format(Date())
                    index++
                }
-                CallerDevaToolsManager.onReceiveBadCaseRecord(builder.build())
+              //  CallerDevaToolsManager.onReceiveBadCaseRecord(builder.build())
            }
            .flowOn(Dispatchers.Default)
            .collect()
@@ -114,7 +114,7 @@ class AutoPilotBadCaseTest {
                    it.timestamp = SimpleDateFormat("yyyyMMddHHmmss").format(Date())
                    index++
                }
-                CallerDevaToolsManager.onReceiveBadCaseRecord(builder.build())
+             //   CallerDevaToolsManager.onReceiveBadCaseRecord(builder.build())
            }
            .flowOn(Dispatchers.Default)
            .collect()
--- a/app/src/androidTest/java/com/mogo/functions/test/ReminderTest.kt
+++ b/app/src/androidTest/java/com/mogo/functions/test/ReminderTest.kt
@@ -20,6 +20,7 @@ import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.hmi.notification.WarningFloat
 import com.mogo.eagle.core.function.hmi.notification.anim.DefaultAnimator
 import com.mogo.eagle.core.data.enums.SidePattern
+import com.mogo.eagle.core.function.hmi.ui.*
 import com.mogo.eagle.core.function.main.MainLauncherActivity
 import com.mogo.eagle.core.utilcode.kotlin.shape
 import com.mogo.eagle.core.utilcode.reminder.Reminder
@@ -27,14 +28,14 @@ import com.mogo.eagle.core.utilcode.reminder.api.impl.ActivityReminder
 import com.mogo.eagle.core.utilcode.reminder.api.impl.PopupWindowReminder
 import com.mogo.eagle.core.utilcode.reminder.api.impl.ViewReminder
 import com.mogo.eagle.core.utilcode.util.AppStateManager
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.delay
-import kotlinx.coroutines.runBlocking
+import kotlinx.coroutines.*
+import kotlinx.coroutines.flow.*
 import org.junit.Before
 import org.junit.Test
 import org.junit.runner.RunWith
 import java.lang.Integer.min
-import java.util.concurrent.TimeUnit
+import java.util.concurrent.*
+import java.util.concurrent.TimeUnit.MILLISECONDS


@RunWith(AndroidJUnit4::class)
@@ -64,6 +65,46 @@ class ReminderTest {
        return@runBlocking
    }

+    @Test
+    fun testShowWarningV2x() = runBlocking {
+        val f = ensureMoGoHmiFragmentShow()
+
+        delay(5000)
+        (1 until 20).map {
+            it
+        }.asFlow()
+            .onEach {
+                f.showWarningV2X("10006", "test", "测试$it", "$it", null, true, 5000)
+            }
+            .flowOn(Dispatchers.Default)
+            .collect()
+        delay(3000000)
+    }
+
+    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiFragment = suspendCancellableCoroutine {
+        launch.onActivity { itx ->
+            val executor = Executors.newSingleThreadScheduledExecutor()
+            executor.scheduleAtFixedRate({
+                var find =
+                    itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                while (find == null) {
+                    find =
+                        itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                }
+                while (!find.isResumed) {
+                    Thread.sleep(500)
+                }
+                it.resumeWith(Result.success(find))
+                try {
+                    Thread.sleep(500)
+                    executor.shutdownNow()
+                } catch (e: Throwable) {
+                    e.printStackTrace()
+                }
+            }, 50, 500, MILLISECONDS)
+        }
+    }
+
    @Test
    fun testViewReminderOverride() = runBlocking(Dispatchers.Main) {
        launch.onActivity {
@@ -357,14 +398,14 @@ class ReminderTest {
        }
    }

-    class TestPopupWindowReminder(private val anchor: View, private val popupWindow: PopupWindow): PopupWindowReminder(popupWindow) {
+    class TestPopupWindowReminder(private val anchor: View,  override val popupWindow: PopupWindow): PopupWindowReminder(popupWindow) {

        override fun show() {
            popupWindow.showAtLocation(anchor, Gravity.CENTER, 0, 0)
        }
    }

-    class TestPopupWindowReminderOverride(private val anchor: View, private val popupWindow: PopupWindow): PopupWindowReminder(popupWindow) {
+    class TestPopupWindowReminderOverride(private val anchor: View, override val popupWindow: PopupWindow): PopupWindowReminder(popupWindow) {

        override fun show() {
            popupWindow.showAtLocation(anchor, Gravity.CENTER, 0, 0)
--- a/app/src/main/java/com/mogo/launcher/MogoApplication.java
+++ b/app/src/main/java/com/mogo/launcher/MogoApplication.java
@@ -1,9 +1,9 @@
 package com.mogo.launcher;

-import com.auto.zhidao.logsdk.CrashSystem;
 import com.mogo.eagle.core.function.main.MainMoGoApplication;
 import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.mogo.launcher.crash.CrashSystem;

 /**
 * @author congtaowang
@@ -17,7 +17,6 @@ public class MogoApplication extends MainMoGoApplication {
    protected void initCrashConfig() {
        CrashSystem crashSystem = CrashSystem.getInstance(this);
        crashSystem.init();
-
        //设置debug模式，日志不上传
        crashSystem.setDebug(BuildConfig.DEBUG);
    }
--- a/app/src/main/java/com/mogo/launcher/crash/CrashSystem.java
+++ b/app/src/main/java/com/mogo/launcher/crash/CrashSystem.java
@@ -0,0 +1,218 @@
+package com.mogo.launcher.crash;
+
+import android.content.Context;
+import android.content.pm.PackageInfo;
+import android.content.pm.PackageManager;
+import android.os.Build;
+import android.os.Environment;
+import android.text.TextUtils;
+import android.util.Log;
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+
+import java.io.File;
+import java.io.FileNotFoundException;
+import java.io.FileOutputStream;
+import java.io.FilenameFilter;
+import java.io.IOException;
+import java.io.PrintWriter;
+import java.io.StringWriter;
+import java.io.Writer;
+import java.lang.Thread.UncaughtExceptionHandler;
+import java.text.SimpleDateFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.HashMap;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Map;
+import java.util.Map.Entry;
+
+public class CrashSystem implements UncaughtExceptionHandler {
+    public static final String TAG = "CrashSystem";
+    private String mAppPackage = null;
+    private String mAppVersionCode = null;
+    private String mAppVersionName = null;
+    private String mAppName = null;
+    private String mOsVersion = null;
+    private String mDeviceId = null;
+    private UncaughtExceptionHandler mDefaultHandler;
+    private final Map<String, String> info = new HashMap();
+    private final SimpleDateFormat format = new SimpleDateFormat("yyyy-MM-dd-HH-mm-ss");
+    private boolean mDebug = false;
+    private final List<CrashCallback> callbackList = new ArrayList<>();
+
+    private static CrashSystem sCrashSystem = null;
+
+    private static final Object lock = new Object();
+
+    public void init() {
+        this.mDefaultHandler = Thread.getDefaultUncaughtExceptionHandler();
+        Thread.setDefaultUncaughtExceptionHandler(this);
+    }
+
+
+    /**
+     * 是否收集记录crash信息
+     * @param debug 是否是debug
+     */
+    public void setDebug(boolean debug) {
+        this.mDebug = debug;
+    }
+
+    /**
+     * 添加crash事件回调
+     */
+    public void addCallback(CrashCallback callback) {
+        if(callback != null) {
+            callbackList.add(callback);
+        }
+    }
+
+    private CrashSystem(Context context) {
+        this.inflateSystemInfo(context);
+    }
+
+    public static CrashSystem getInstance(Context context) {
+        CrashSystem crashSystem = sCrashSystem;
+        if(crashSystem == null) {
+            synchronized (lock) {
+                crashSystem = sCrashSystem;
+                if(crashSystem == null) {
+                    crashSystem = new CrashSystem(context.getApplicationContext());
+                    sCrashSystem = crashSystem;
+                }
+            }
+        }
+        return crashSystem;
+    }
+
+    @Override
+    public void uncaughtException(Thread thread, Throwable ex) {
+        try {
+            this.handleException(ex);
+            dispatchCrashError();
+        } finally {
+            if (mDefaultHandler != null) {
+                mDefaultHandler.uncaughtException(thread, ex);
+            }
+        }
+    }
+
+    /**
+     * 分发异常事件
+     */
+    private void dispatchCrashError() {
+        for (CrashCallback callback : callbackList) {
+            if(callback != null) {
+                callback.onCrashError();
+            }
+        }
+    }
+
+    private boolean handleException(Throwable ex) {
+        if(ex == null) {
+            return true;
+        } else {
+            String msg = ex.getLocalizedMessage();
+            Log.e("CrashSystem", msg);
+            String filePath = saveCrashInfo2File(ex);
+            Log.i(TAG, "handleException: filePath = " + filePath);
+            return true;
+        }
+    }
+
+    private String saveCrashInfo2File(Throwable ex) {
+        try {
+            if(!Environment.getExternalStorageState().equals("mounted")) {
+                return null;
+            }
+            File dir = new File(Environment.getExternalStorageDirectory().getAbsolutePath() + File.separator + "crash");
+            if(!dir.exists()) {
+                dir.mkdir();
+            }
+            String[] fileList = dir.list((dir1, name) -> name.contains(mAppPackage));
+            if(fileList == null || fileList.length >= 20) { //避免crash日志一直重复
+                return null;
+            }
+            String time = this.format.format(new Date());
+            String fileName = "app-crash-" + this.mAppPackage + "-" + time + ".log";
+            if(mDebug) {
+                fileName = "debug-" + fileName;
+            }
+            String fileTemp = fileName + ".temp";
+            StringBuilder sb = new StringBuilder();
+            Iterator<Entry<String, String>> var4 = this.info.entrySet().iterator();
+            String result;
+            while(var4.hasNext()) {
+                Entry<String, String> entry = var4.next();
+                String key = entry.getKey();
+                result = entry.getValue();
+                sb.append(key).append("=").append(result).append("\n");
+            }
+            sb.append("TIME=").append(String.valueOf(System.currentTimeMillis())).append("\n");
+            sb.append("fileName=").append(fileName).append("\n");
+            Writer writer = new StringWriter();
+            PrintWriter pw = new PrintWriter(writer);
+            ex.printStackTrace(pw);
+            for(Throwable cause = ex.getCause(); cause != null; cause = cause.getCause()) {
+                cause.printStackTrace(pw);
+            }
+            pw.close();
+            result = writer.toString();
+            sb.append(result);
+            FileOutputStream fos = null;
+            try {
+                File dest = new File(dir, fileTemp);
+                fos = new FileOutputStream(dest);
+                fos.write(sb.toString().getBytes());
+                fos.flush();
+                File file = new File(dir,fileName);
+                dest.renameTo(file);
+                return dir.getAbsolutePath() + File.separator + fileName;
+            } catch (IOException var13) {
+                var13.printStackTrace();
+            } finally {
+                try {
+                    if (fos != null) {
+                        fos.close();
+                    }
+                } catch (IOException ignore) {}
+            }
+        } catch (Throwable ignore) {
+        }
+        return null;
+    }
+
+    private void inflateSystemInfo(Context context) {
+        this.mAppPackage = context.getPackageName();
+        PackageManager pm = context.getPackageManager();
+        try {
+            PackageInfo packageInfo = pm.getPackageInfo(this.mAppPackage, 0);
+            this.mAppVersionCode = "" + packageInfo.versionCode;
+            this.mAppVersionName = packageInfo.versionName;
+            this.mAppPackage = packageInfo.packageName;
+            this.mAppName = packageInfo.applicationInfo.loadLabel(context.getPackageManager()).toString();
+            this.mOsVersion = Build.DISPLAY;
+            String deviceId = MoGoAiCloudClientConfig.getInstance().getSn();
+            if(TextUtils.isEmpty(deviceId)) {
+                deviceId = "11111111";
+            }
+            this.mDeviceId = deviceId;
+        } catch (Exception var5) {
+            var5.printStackTrace();
+        }
+
+        this.info.put("appName",this.mAppName);
+        this.info.put("appPackageName", this.mAppPackage);
+        this.info.put("versionCode", this.mAppVersionCode);
+        this.info.put("versionName", this.mAppVersionName);
+        this.info.put("sn", this.mDeviceId);
+        this.info.put("DISPLAY", this.mOsVersion);
+    }
+
+    public interface CrashCallback {
+        void onCrashError();
+    }
+}
+
--- a/config.gradle
+++ b/config.gradle
@@ -38,7 +38,7 @@ ext {
 //            amapnavi3dmap              : "com.amap.api:navi-3dmap:8.0.1_3dmap8.0.1",
 //            amapsearch                 : "com.amap.api:search:7.9.0",
 //            amaplocation               : "com.amap.api:location:5.5.0",
-            amapnavi3dmap                : "com.amap.api:navi-3dmap:7.2.0_3dmap7.2.0",
+            amapnavi3dmap                : "com.amap.api:navi-3dmap:7.7.0_3dmap7.7.0",
            amapsearch                   : "com.amap.api:search:7.1.0",
            amaplocation                 : "com.amap.api:location:5.3.1",
            // json 转换
@@ -89,7 +89,6 @@ ext {
            jetbrainsannotationsjava5    : "org.jetbrains:annotations-java5:15.0",

            // crash
-            crashSdk                     : "com.zhidaoauto.crash.log:library:1.0.5",
            kotlinstdlibjdk7             : "org.jetbrains.kotlin:kotlin-stdlib-jdk7:${kotlin_version}",

            //探路使用的直播组件
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -3,7 +3,7 @@ package com.zhjt.mogo_core_function_devatools
 import android.annotation.SuppressLint
 import android.app.Activity
 import android.content.Context
-import android.view.View
+import android.view.*
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.deva.chain.ChainLogParam
@@ -102,12 +102,12 @@ class DevaToolsProvider : IDevaToolsProvider {
        upgradeManager.downLoadPackage(mContext!!, downloadKey,downloadUrl)
    }

-    override fun showStatusBar(ctx: Context, anchor: View) {
-        StatusManager.init(ctx, anchor)
-        StatusManager.show()
+    override fun showStatusBar(ctx: Context, container: ViewGroup) {
+        StatusManager.init(ctx)
+        StatusManager.show(container)
    }

-    override fun hideStatusBar() {
-        StatusManager.hide()
+    override fun hideStatusBar(container: ViewGroup) {
+        StatusManager.hide(container)
    }
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
@@ -1,10 +1,9 @@
+@file:Suppress("COMPATIBILITY_WARNING")
+
 package com.zhjt.mogo_core_function_devatools.status

 import android.content.*
 import android.view.*
-import android.view.WindowManager.LayoutParams
-import android.widget.*
-import androidx.core.view.*
 import androidx.lifecycle.*
 import androidx.lifecycle.Lifecycle.Event
 import androidx.lifecycle.Lifecycle.Event.ON_CREATE
@@ -13,7 +12,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.util.*
-import com.zhjt.mogo_core_function_devatools.ext.*
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.GpsStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.IpcStatus
@@ -29,11 +27,12 @@ import com.zhjt.mogo_core_function_devatools.status.flow.ipc.IpcImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.nets.NetsImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.rtk.RTKImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.trace.TracingImpl
-import com.zhjt.mogo_core_function_devatools.status.ui.*
+import com.zhjt.mogo_core_function_devatools.status.ui.StatusView
 import kotlinx.coroutines.*
 import kotlinx.coroutines.flow.*
 import mogo_msg.MogoReportMsg
-import java.lang.ref.*
+import java.util.concurrent.*
+

 object StatusManager {

@@ -41,18 +40,13 @@ object StatusManager {

    private lateinit var model: StatusModel

-    private var pop: PopupWindow? = null
-
    private var timer: Job? = null

-    private var context: WeakReference<Context>? = null
-
-    private var anchor: WeakReference<View>? = null

    private var hasInit = false

-    private var oldX = 0
-    private var oldY = 0
+    private val listeners by lazy { CopyOnWriteArrayList<IStatusListener>() }
+

    private val listener = object : IMoGoAutopilotStatusListener {
        override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
@@ -93,7 +87,7 @@ object StatusManager {
        }
    }

-    fun init(ctx: Context, anchor: View) {
+    fun init(ctx: Context) {
        if (hasInit) {
            return
        }
@@ -110,26 +104,6 @@ object StatusManager {
                }
            }
        })
-        context = WeakReference(ctx)
-        anchor.viewTreeObserver.addOnGlobalLayoutListener {
-            anchor.getLocationInWindow(IntArray(2).also {
-                val currentX = it[0]
-                val currentY = it[1]
-                var changed = false
-                if (oldX != currentX) {
-                    oldX = currentX
-                    changed = true
-                }
-                if (oldY != currentY) {
-                    changed = true
-                    oldY = currentY
-                }
-                if (changed && pop?.isShowing == true) {
-                    pop?.update(getOffsetX(currentX), currentY + 130.PX, -1, -1)
-                }
-            })
-        }
-        this.anchor = WeakReference(anchor)
    }

    private fun onCreate(ctx: Context) {
@@ -153,35 +127,42 @@ object StatusManager {
                    model.update(it)
                }
            }
+            f.onCreate()
        }
-    }

-    fun show() {
-        val anchor = this.anchor?.get() ?: return
-        context?.get()?.also { ctx ->
-            pop?.takeIf { it.isShowing }?.dismiss()
-            val content = StatusView(model, ctx)
-            content.doOnAttach {
-                for (f in flows) {
-                    f.onCreate()
-                }
-            }
-            val out = IntArray(2)
-            anchor.getLocationInWindow(out)
-            ctx.normalPop(content, width = LayoutParams.WRAP_CONTENT, height = LayoutParams.WRAP_CONTENT, gravity = Gravity.END or Gravity.TOP, startX = getOffsetX(out[0]), startY = out[1] + 130.PX , isFocusable = false)?.also {
-                pop = it
+        model.status.observe(ctx.lifeCycleOwner) {
+            listeners.forEach { itx ->
+                itx.onStatusChanged(it.second, it.first != null)
            }
        }
    }

-    private fun getOffsetX(anchorX: Int): Int {
-        return ScreenUtils.getScreenWidth() - anchorX + 40.PX
+
+    fun registerListener(listener: IStatusListener) {
+        listeners.add(listener)
    }

-    fun hide() {
-        pop?.takeIf { it.isShowing }?.dismiss()
+
+    fun unRegisterListener(listener: IStatusListener) {
+        listeners.remove(listener)
    }

+    fun show(container: ViewGroup) {
+        if (container.childCount > 0) {
+            if (container.visibility != View.VISIBLE) {
+                container.visibility = View.VISIBLE
+            }
+            return
+        }
+        val child = StatusView(model, container.context)
+        container.addView(child, ViewGroup.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT))
+    }
+
+    fun hide(container: ViewGroup) {
+        container.visibility = View.GONE
+    }
+
+
    private fun onDestroy(ctx: Context) {
        hasInit = false
        CallerAutoPilotStatusListenerManager.removeListener(TAG)
@@ -190,7 +171,12 @@ object StatusManager {
        flows.forEach {
            it.onDestroy()
        }
+        listeners.clear()
        flows.clear()
-        pop?.takeIf { it.isShowing }?.dismiss()
+    }
+
+    interface IStatusListener {
+
+        fun onStatusChanged(data: List<Status>, hasException: Boolean)
    }
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
@@ -3,12 +3,12 @@ package com.zhjt.mogo_core_function_devatools.status.entity
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.*

-internal sealed class Status
+sealed class Status

 /**
 * 工控机
 */
-internal class IpcStatus(val enabled: Boolean = false): Status() {
+class IpcStatus(val enabled: Boolean = false): Status() {

    override fun equals(other: Any?): Boolean {
        if (javaClass != other?.javaClass) return false
@@ -26,7 +26,7 @@ internal class IpcStatus(val enabled: Boolean = false): Status() {
    }
 }

-internal class NetStatus(val enabled: Boolean = false, var name: String? = null, val speed: Speed? = null): Status() {
+class NetStatus(val enabled: Boolean = false, var name: String? = null, val speed: Speed? = null): Status() {
    class Speed(val tx: Int, val rx: Int) {

        override fun toString(): String {
@@ -56,7 +56,7 @@ internal class NetStatus(val enabled: Boolean = false, var name: String? = null,
 /**
 * android系统定位状态
 */
-internal class GpsStatus(val enabled: Boolean = false, val isGranted: Boolean = false): Status() {
+class GpsStatus(val enabled: Boolean = false, val isGranted: Boolean = false): Status() {

    override fun equals(other: Any?): Boolean {
        if (javaClass != other?.javaClass) return false
@@ -81,7 +81,7 @@ internal class GpsStatus(val enabled: Boolean = false, val isGranted: Boolean =
 /**
 * RTK/GNSS定位状态
 */
-internal class RTKStatus(var enabled: Boolean = false, var desc: String = "RTK"): Status() {
+class RTKStatus(var enabled: Boolean = false, var desc: String = "RTK"): Status() {

    override fun equals(other: Any?): Boolean {
        if (javaClass != other?.javaClass) return false
@@ -102,7 +102,7 @@ internal class RTKStatus(var enabled: Boolean = false, var desc: String = "RTK")
 /**
 * Can总线
 */
-internal class CanStatus(var enabled: Boolean = false): Status() {
+class CanStatus(var enabled: Boolean = false): Status() {

    override fun equals(other: Any?): Boolean {
        if (javaClass != other?.javaClass) return false
@@ -125,7 +125,7 @@ internal class CanStatus(var enabled: Boolean = false): Status() {
 /**
 * 寻迹/算路/未知
 */
-internal class TracingStatus(var state: Tracing = UNKNOWN): Status() {
+class TracingStatus(var state: Tracing = UNKNOWN): Status() {

    enum class Tracing(val code: String? = "") {
        /**
@@ -188,7 +188,7 @@ internal class TracingStatus(var state: Tracing = UNKNOWN): Status() {
    }
 }

-internal fun String.toState(): Tracing? {
+fun String.toState(): Tracing? {
    return when(this) {
        "IMAP_TRA_EXIST" -> TRACK_FINDED
        "IMAP_TRA_LOADED" -> TRACK_LOADED
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
@@ -5,6 +5,7 @@ import android.content.*
 import android.graphics.*
 import android.graphics.drawable.*
 import android.transition.*
+import android.util.*
 import android.view.*
 import androidx.appcompat.widget.*
 import androidx.constraintlayout.widget.*
@@ -42,7 +43,6 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
    }

    private fun init() {
-        isClickable = true
        dot.background = shape(solid = Color.parseColor("#F33F1D"), shape = GradientDrawable.OVAL, width = 30.PX, height = 30.PX)
        iv.also {
            it.background = ContextCompat.getDrawable(context, R.drawable.icon_dev_status_un_fold)
@@ -59,13 +59,14 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
                moveDuration = 0
                removeDuration = 0
            }
-            itx.layoutManager = LinearLayoutManager(context, LinearLayoutManager.HORIZONTAL, false)
+            itx.layoutManager = GridLayoutManager(context,4, GridLayoutManager.VERTICAL, false)
            itx.background = shape(solid = Color.parseColor("#80000000"), radius = 40.PX)
            itx.addItemDecoration(
                CommonDividerItemDecoration.Builder()
                    .horizontalExternalSpace(38.PX)
                    .verticalExternalSpace(30.PX)
-                    .spanCountLRCare(false)
+                    .verticalInnerSpace(20.PX)
+                    .spanCountTBCare(false)
                    .horizontalInnerSpace(50.PX)
                    .build()
            )
@@ -90,6 +91,17 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
        }
    }

+    override fun onVisibilityChanged(changedView: View, visibility: Int) {
+        super.onVisibilityChanged(changedView, visibility)
+        if (changedView != this) {
+            if (visibility == View.VISIBLE) {
+                observer?.also { model.status.observeForever(it) }
+            } else {
+                observer?.also { model.status.removeObserver(it) }
+            }
+        }
+    }
+
    private fun animate(expand: Boolean) {
        TransitionManager.beginDelayedTransition(this, AutoTransition().setDuration(200))
        rv.visibility = if (expand) View.VISIBLE else View.INVISIBLE
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_status_bar.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_status_bar.xml
@@ -8,13 +8,12 @@

    <androidx.recyclerview.widget.RecyclerView
        android:id="@+id/rv"
-        android:layout_width="wrap_content"
-        android:layout_height="156px"
-        android:minWidth="902px"
+        android:layout_width="611px"
+        android:layout_height="271px"
        app:layout_constraintStart_toStartOf="parent"
        app:layout_constraintEnd_toStartOf="@+id/iv"
        app:layout_constraintTop_toTopOf="parent"
-        android:layout_marginEnd="20px"
+        android:layout_marginEnd="42px"
        android:overScrollMode="never"
        app:layout_constraintBottom_toBottomOf="parent"/>

@@ -24,7 +23,7 @@
        android:layout_height="107px"
        android:layout_marginBottom="20px"
        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginTop="12px"
        app:layout_constraintStart_toEndOf="@+id/rv"
        app:layout_constraintEnd_toEndOf="parent"
        android:background="@drawable/icon_dev_status_un_fold"/>
--- a/core/function-impl/mogo-core-function-hmi/build.gradle
+++ b/core/function-impl/mogo-core-function-hmi/build.gradle
@@ -62,7 +62,7 @@ dependencies {
    implementation rootProject.ext.dependencies.androidxroomktx

    //Crash日志收集
-    implementation rootProject.ext.dependencies.crashSdk
+//    implementation rootProject.ext.dependencies.crashSdk
    implementation rootProject.ext.dependencies.boostmultidex

    debugImplementation rootProject.ext.dependencies.debugleakcanary
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
@@ -74,7 +74,6 @@ import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
 import com.mogo.eagle.core.utilcode.reminder.*
 import com.mogo.eagle.core.utilcode.reminder.api.*
@@ -144,7 +143,9 @@ import java.util.*

    private var adUpgradeDialog: AdUpgradeDialog?=null

-    private var speakJob: Job? = null
+    private var lastSpeakJob: Job? = null
+
+    private var lastShowV2XJob: Job? = null

    private var showingV2XTip: IReminder? = null
    private var roadVideoDialog: RoadVideoDialog? = null
@@ -206,7 +207,7 @@ import java.util.*
        setProxyLimitingSpeedView(viewLimitingVelocity)
        setViewNotificationProvider(this)
        context?.also {
-            CallerDevaToolsManager.showStatusBar(it, vs_status_bar)
+            CallerDevaToolsManager.showStatusBar(it, statusBarContainer)
        }
    }

@@ -606,11 +607,9 @@ import java.util.*
                CallerLogger.e("$M_HMI$TAG", "Show warningContent is null or empty!")
                return
            }
-            speakJob?.safeCancel()
            val content = mViewNotificationProvider?.getNotificationView() ?: return
            content.setWarningIcon(EventTypeEnum.getWarningIcon(v2xType))
            content.setWarningContent(warningContent)
-            var reminder: IReminder? = null
            Log.d("$M_HMI$TAG", "--- show v2x dialog 1 ---: info -> v2x-type: $v2xType : expireTime: $expireTime")
            Reminder.enqueue(this@MoGoHmiFragment, object : PopupWindowReminder(PopupWindow(content, LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT).also { itx ->
                itx.isTouchable = false
@@ -639,37 +638,42 @@ import java.util.*
                        popupWindow.showAtLocation(parent, content.layoutGravity, 0, 0)
                    }
                }
-
                override fun isOverride(): Boolean {
                    return true
                }
-            }.also { itx ->  reminder = itx }, object : IStateChangeListener {
+
+                override fun key(): String {
+                    return v2xType
+                }
+            }, object : IStateChangeListener {

                override fun onShow(reminder: IReminder) {
                    listener?.onShow()
+                    lastShowV2XJob?.safeCancel()
+                    lastSpeakJob?.safeCancel()
+                    showingV2XTip = reminder
+                    lifecycleScope.launch {
+                        delay(expireTime)
+                    }.also { itx ->
+                        lastShowV2XJob = itx
+                    }.invokeOnCompletion { _ ->
+                        reminder.hide()
+                    }
                    if (ttsContent != null && !TextUtils.isEmpty(ttsContent) && playTTS) {
                        lifecycleScope.launch {
                            speak(it, ttsContent)
-                        }.also {
-                            speakJob = it
+                        }.also { itx ->
+                            lastSpeakJob = itx
                        }
                    }
                }

                override fun onHide(reminder: IReminder) {
                    listener?.onDismiss()
+                    showingV2XTip = null
                    showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
                }
            })
-
-            if (reminder == null) {
-                return
-            }
-            showingV2XTip = reminder
-            lifecycleScope.launch {
-                delay(expireTime)
-                reminder?.hide()
-            }
        }
    }

@@ -1210,7 +1214,7 @@ import java.util.*
    }

    override fun showSmallFragment() {
-        CallerDevaToolsManager.hideStatusBar()
+        CallerDevaToolsManager.hideStatusBar(statusBarContainer)
        // 加载全览模式图层
        val fragmentOverview = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
            .navigation() as BaseFragment
@@ -1225,7 +1229,7 @@ import java.util.*
    }

    override fun hideSmallFragment() {
-        context?.let { CallerDevaToolsManager.showStatusBar(it, vs_status_bar) }
+        context?.let { CallerDevaToolsManager.showStatusBar(it, statusBarContainer) }
        val fragmentOverview = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
            .navigation() as BaseFragment
        activity?.supportFragmentManager?.beginTransaction()
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
@@ -129,14 +129,26 @@ public class SteeringWheelView extends ConstraintLayout {
                    if (autopilotIV != null) {
                        Log.d(TAG, "autopilotIV != null");
                        if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
+                            if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+                                // TODO

-                            autopilotIV.setImageResource(R.drawable.bg_auto);
-
+                            } else {
+                                autopilotIV.setImageResource(R.drawable.bg_auto);
+                            }
                        } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
-                            autopilotIV.setImageResource(R.drawable.bg_auto_nor);
+                            if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+                                // TODO

+                            } else {
+                                autopilotIV.setImageResource(R.drawable.bg_auto_nor);
+                            }
                        } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
-                            autopilotIV.setImageResource(R.drawable.bg_auto_nor);
+                            if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+                                // TODO
+
+                            } else {
+                                autopilotIV.setImageResource(R.drawable.bg_auto_nor);
+                            }
                        }
                    } else {
                        Log.d(TAG, "autopilotIV=null");
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -14,6 +14,7 @@ import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.ConstraintLayout;

 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
@@ -42,6 +43,8 @@ public class TrafficDataView extends ConstraintLayout {

    private static final int MSG_SEND_UPDATE = 1;
    private volatile double acceleration;
+    private volatile float mBrake;
+    private volatile float mThrottle;

    @SuppressLint("HandlerLeak")
    private final Handler handler = new Handler() {
@@ -49,10 +52,28 @@ public class TrafficDataView extends ConstraintLayout {
        public void handleMessage(@NonNull Message msg) {
            super.handleMessage(msg);
            if (msg.what == MSG_SEND_UPDATE) {
-                java.text.DecimalFormat mFormat = new java.text.DecimalFormat("0.00");
-                String accStr = mFormat.format(acceleration);
-                accTextView.setText("a: " + accStr);
+                java.text.DecimalFormat mFormat = new java.text.DecimalFormat("0.0");
+                String accStr = mFormat.format(Math.abs(acceleration));
+                if (acceleration > 0f) {
+                    accTextView.setText(accStr);
+                } else {
+                    accTextView.setText("- " + accStr);
+                }
+                int state = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState();
+                if (state < 2) {
+                    if (mBrake > 0) {
+                        brakeStatus.setImageResource(R.drawable.traffic_data_brake);
+                    } else if (mThrottle >= 0 && mBrake == 0) {
+                        brakeStatus.setImageResource(R.drawable.traffic_data_accelerator);
+                    } else {
+                        brakeStatus.setImageResource(R.drawable.traffic_data_empty);
+                    }
+                }
+                if (state == 2) {
+                    brakeStatus.setImageResource(R.drawable.traffic_data_empty);
+                }
            }
+            handler.sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L);
        }
    };

@@ -76,12 +97,12 @@ public class TrafficDataView extends ConstraintLayout {
    @Override
    protected void onAttachedToWindow() {
        super.onAttachedToWindow();
+        handler.sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L);
        CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
        CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, gnssInfo -> {
            if (gnssInfo != null) {
                acceleration = gnssInfo.getAcceleration();
            }
-            handler.sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L);
        });
    }

@@ -162,25 +183,13 @@ public class TrafficDataView extends ConstraintLayout {
        @Override
        public void onAutopilotBrake(float brake) {
            CallerLogger.INSTANCE.d(TAG, "刹车:" + brake);
-            ThreadUtils.runOnUiThread(() -> {
-                if (brake > 0) {
-                    brakeStatus.setImageResource(R.drawable.traffic_data_brake);
-                } else {
-                    brakeStatus.setImageResource(R.drawable.traffic_data_empty);
-                }
-            });
+            mBrake = brake;
        }

        @Override
        public void onAutopilotThrottle(float throttle) {
            CallerLogger.INSTANCE.d(TAG, "油门:" + throttle);
-            ThreadUtils.runOnUiThread(() -> {
-                if (throttle > 0) {
-                    brakeStatus.setImageResource(R.drawable.traffic_data_accelerator);
-                } else {
-                    brakeStatus.setImageResource(R.drawable.traffic_data_empty);
-                }
-            });
+            mThrottle = throttle;
        }

    };
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
@@ -147,6 +147,7 @@
            android:layout_height="120px"
            android:layout_marginTop="30px"
            android:layout_marginEnd="40px"
+
            android:background="@drawable/bg_waring_limiting_velocity"
            android:elevation="@dimen/dp_10"
            android:gravity="center"
@@ -158,7 +159,7 @@
            app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon"
            app:layout_goneMarginEnd="40px"
            app:layout_goneMarginTop="40px"
-            tools:visibility="visible" />
+            tools:visibility="gone" />

        <!--左右转向灯-->
        <com.mogo.eagle.core.function.hmi.ui.turnlight.TurnLightViewStatus
@@ -189,13 +190,15 @@
            app:layout_constraintEnd_toEndOf="parent"
            app:layout_constraintStart_toStartOf="parent" />

-        <View
-            android:id="@+id/vs_status_bar"
-            android:layout_width="107px"
-            android:layout_height="107px"
+        <RelativeLayout
+            android:id="@+id/statusBarContainer"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
            android:layout_marginEnd="30px"
+            app:layout_constraintTop_toTopOf="@+id/viewLimitingVelocity"
            app:layout_constraintEnd_toStartOf="@+id/viewLimitingVelocity"
-            app:layout_constraintBottom_toBottomOf="@+id/viewLimitingVelocity"/>
+            app:layout_goneMarginTop="30px"
+            app:layout_goneMarginEnd="40px"/>
    </androidx.constraintlayout.widget.ConstraintLayout>

    <!--    app:layout_constraintBottom_toBottomOf="parent"-->
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_traffic_data.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_traffic_data.xml
@@ -73,8 +73,19 @@
        android:id="@+id/speedAccTextView"
        android:layout_width="wrap_content"
        android:layout_height="@dimen/dp_56"
-        android:layout_marginLeft="@dimen/dp_42"
-        android:text="a: "
+        android:layout_marginEnd="@dimen/dp_80"
+        android:gravity="end"
+        android:textColor="#fff"
+        android:textSize="@dimen/dp_40"
+        app:layout_constraintBottom_toBottomOf="@+id/brakeStatus"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/brakeStatus"/>
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="@dimen/dp_56"
+        android:layout_marginLeft="@dimen/dp_14"
+        android:text="a:"
        android:textAlignment="viewStart"
        android:textColor="#fff"
        android:textSize="@dimen/dp_40"
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.java
@@ -12,7 +12,6 @@ import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
 import com.mogo.eagle.core.data.map.CenterLine;
-import com.mogo.eagle.core.data.map.Infrastructure;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
 import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
@@ -30,11 +29,8 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.zhidaoauto.map.sdk.open.MapAutoApi;
 import com.zhidaoauto.map.sdk.open.business.PointCloudHelper;

-import java.util.ArrayList;
-import java.util.HashMap;
 import java.util.List;

-import ch.hsr.geohash.GeoHash;
 import mogo.telematics.pad.MessagePad;

 /**
@@ -96,6 +92,7 @@ public class MapFragment extends MvpFragment<MapView, MapPresenter>
        }
        // 添加换肤监听
        CallerSkinModeListenerManager.INSTANCE.addListener(TAG, this);
+        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
    }

    @NonNull
@@ -212,6 +209,17 @@ public class MapFragment extends MvpFragment<MapView, MapPresenter>
        viewModel.fetchInfStructures();
    }

+    private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener() {
+
+        @Override
+        public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp globalPathResp) {
+            InfStructureManager.INSTANCE.savePlanningData(globalPathResp.getWayPointsList());
+        }
+
+        @Override
+        public void onAutopilotTrajectory(@NonNull List<MessagePad.TrajectoryPoint> trajectoryInfos) {}
+    };
+
    @Override
    public IMogoMapUIController getUIController() {
        return mMogoMap.getUIController();
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
@@ -72,7 +72,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
                        //0是leading障碍物，障碍物车身红色提示
                        trackObj?.let {
                            colorTrafficData[trackId] = PlanningTrack(
-                                "#D77F70FF",
+                                "#D65D5AFF",
                                CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
                            )
                        }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/InfStructureManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/InfStructureManager.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.overview

 import com.mogo.eagle.core.data.map.Infrastructure
+import mogo.telematics.pad.MessagePad

 /**
 * 本地数据库查询出来的红绿灯、摄像头等数据
@@ -17,6 +18,10 @@ object InfStructureManager {
        HashMap<String, ArrayList<Infrastructure>>()
    }

+    private val _planningList by lazy {
+        ArrayList<MessagePad.Location>()
+    }
+
    fun saveData(map: HashMap<String, java.util.ArrayList<Infrastructure>>) {
        if (_infMap.isNotEmpty()) {
            _infMap.clear()
@@ -34,4 +39,13 @@ object InfStructureManager {
    }

    fun getPathData(): Map<String, ArrayList<Infrastructure>> = _pathMap
+
+    fun savePlanningData(planningList: List<MessagePad.Location>) {
+        if (_planningList.isNotEmpty()) {
+            _planningList.clear()
+        }
+        _planningList.addAll(planningList)
+    }
+
+    fun getPlanningData() = _planningList
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/vm/OverViewModel.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/vm/OverViewModel.kt
@@ -1,15 +1,17 @@
 package com.mogo.eagle.core.function.overview.vm

 import androidx.lifecycle.*
+import com.amap.api.maps.model.LatLng
 import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.function.overview.OverviewDao
+import io.reactivex.disposables.CompositeDisposable
 import kotlinx.coroutines.launch
-import java.lang.Exception

 class OverViewModel(
    private val overviewDao: OverviewDao
 ) : ViewModel() {
    private val _infStructures = MutableLiveData<List<Infrastructure>>()
+
    val infStructures
        get() = _infStructures

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
@@ -2,9 +2,7 @@ package com.mogo.eagle.core.function.smp;

 import android.content.Context;
 import android.graphics.Bitmap;
-import android.graphics.BitmapFactory;
 import android.graphics.Canvas;
-import android.location.Location;
 import android.os.Bundle;
 import android.util.AttributeSet;
 import android.util.Log;
@@ -14,62 +12,36 @@ import android.view.View;
 import android.widget.RelativeLayout;
 import android.widget.TextView;

-import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;

 import com.amap.api.maps.AMap;
 import com.amap.api.maps.CameraUpdate;
 import com.amap.api.maps.CameraUpdateFactory;
-import com.amap.api.maps.CoordinateConverter;
+import com.amap.api.maps.TextureMapView;
 import com.amap.api.maps.UiSettings;
+import com.amap.api.maps.model.BitmapDescriptor;
 import com.amap.api.maps.model.BitmapDescriptorFactory;
+import com.amap.api.maps.model.CameraPosition;
 import com.amap.api.maps.model.CustomMapStyleOptions;
 import com.amap.api.maps.model.LatLng;
+import com.amap.api.maps.model.LatLngBounds;
+import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
-import com.amap.api.navi.AMapNavi;
-import com.amap.api.navi.AMapNaviListener;
-import com.amap.api.navi.AMapNaviView;
-import com.amap.api.navi.AMapNaviViewListener;
-import com.amap.api.navi.AMapNaviViewOptions;
-import com.amap.api.navi.enums.NaviType;
-import com.amap.api.navi.model.AMapCalcRouteResult;
-import com.amap.api.navi.model.AMapLaneInfo;
-import com.amap.api.navi.model.AMapModelCross;
-import com.amap.api.navi.model.AMapNaviCameraInfo;
-import com.amap.api.navi.model.AMapNaviCross;
-import com.amap.api.navi.model.AMapNaviInfo;
-import com.amap.api.navi.model.AMapNaviLocation;
-import com.amap.api.navi.model.AMapNaviRouteNotifyData;
-import com.amap.api.navi.model.AMapNaviTrafficFacilityInfo;
-import com.amap.api.navi.model.AMapServiceAreaInfo;
-import com.amap.api.navi.model.AimLessModeCongestionInfo;
-import com.amap.api.navi.model.AimLessModeStat;
-import com.amap.api.navi.model.NaviInfo;
-import com.amap.api.navi.model.NaviLatLng;
-import com.amap.api.navi.model.RouteOverlayOptions;
-import com.autonavi.tbt.TrafficFacilityInfo;
-import com.elegant.utils.UiThreadHandler;
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.Infrastructure;
-import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.function.map.R;
 import com.mogo.eagle.core.function.overview.InfStructureManager;
-import com.mogo.eagle.core.function.smp.view.ISmallMapDirectionView;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils;
-import com.mogo.eagle.core.utilcode.util.ThreadUtils;
-import com.mogo.module.common.utils.DrivingDirectionUtils;
-import com.zhidao.support.adas.high.AdasManager;
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler;

 import org.jetbrains.annotations.NotNull;

@@ -79,9 +51,8 @@ import java.util.List;
 import java.util.Map;

 import ch.hsr.geohash.GeoHash;
+import kotlin.Pair;
 import mogo.telematics.pad.MessagePad;
-import mogo_msg.MogoReportMsg;
-import system_master.SystemStatusInfo;

 /**
 * 小地图的方向View
@@ -92,23 +63,14 @@ import system_master.SystemStatusInfo;
 */
 public class AMapCustomView
        extends RelativeLayout
-        implements IMoGoMapLocationListener, ISmallMapDirectionView, AMapNaviListener, AMapNaviViewListener {
+        implements IMoGoMapLocationListener {
    public static final String TAG = "AMapCustomView";
-    private AMapNaviView mAMapNaviView;
-    protected AMapNavi mAMapNavi;
+    private TextureMapView mAMapView;
    private AMap mAMap;
-    protected NaviLatLng mStartLatlng = new NaviLatLng();
-    protected NaviLatLng mEndLatlng = new NaviLatLng();
-    protected final List<NaviLatLng> sList = new ArrayList<NaviLatLng>();
-    protected final List<NaviLatLng> eList = new ArrayList<NaviLatLng>();
    private int zoomLevel = 15;
-    private final List<LatLng> mCoordinatesLatLng = new ArrayList<>();
-    private final List<MogoLatLng> mCoordinatesLatLngCurrent = new ArrayList<>();
-    protected List<NaviLatLng> mWayPointList = new ArrayList<NaviLatLng>();
-    private Polyline mPolyline;
    private CameraUpdate mCameraUpdate;
    private Context mContext;
-    private float tilt = 30f;
+    private float mTilt = 60f;
    private TextView overLayerView;
    private boolean calculate = false;

@@ -116,6 +78,23 @@ public class AMapCustomView
    private Map<String, ArrayList<Infrastructure>> pathMap = new HashMap();
    private Map<LatLng, ArrayList<Infrastructure>> posInfMap = new HashMap();

+    // =============绘制轨迹线相关=============
+    private Marker mCarMarker;
+    private Marker mCompassMarker;
+    private Marker mStartMarker;
+    private Marker mEndMarker;
+    private Polyline mBottomPolyline;
+    private Polyline mCoveredPolyline;
+    // 计算索引并设置对应的Bitmap
+    BitmapDescriptor arrivedBitmap;
+    BitmapDescriptor unArrivedBitmap;
+    // 绘制轨迹线的集合
+    private List<BitmapDescriptor> textureList = new ArrayList<>();
+    private List<Integer> texIndexList = new ArrayList<>();
+
+    private MogoLocation mLocation;
+    private boolean isFirstLocation = true;
+
    public AMapCustomView(Context context) {
        this(context, null);
    }
@@ -136,35 +115,48 @@ public class AMapCustomView
    private void initView(Context context) {
        mContext = context;
        View smpView = LayoutInflater.from(context).inflate(R.layout.module_overview_map_view, this);
-        mAMapNaviView = smpView.findViewById(R.id.aMapNaviView);
+        mAMapView = smpView.findViewById(R.id.aMapView);
        overLayerView = findViewById(R.id.overLayer);
-        if(AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
+        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
            overLayerView.setBackground(getResources().getDrawable(R.drawable.amap_reset));
-        }else {
+            arrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.arrow_arrived_img);
+            unArrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.amap_bus_smooth_route);
+        } else {
            overLayerView.setBackground(getResources().getDrawable(R.drawable.amap_reset_bus));
+            arrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.arrow_arrived_img);
+            unArrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.amap_bus_smooth_route);
        }
-        mAMapNavi = AMapNavi.getInstance(context);
-        mAMapNavi.addAMapNaviListener(this);
-        mAMapNaviView.setAMapNaviViewListener(this);
-        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
        initAMapView(context);
        // 注册定位监听
        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
        //设置全览模式
        overLayerView.setOnClickListener(v -> {
-            mAMapNaviView.displayOverview();
+            displayCustomOverView();
        });
-        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
-        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
-        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
    }

    private void initAMapView(Context context) {
        Log.d(TAG, "initAMapView");
        mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel);
-        mAMap = mAMapNaviView.getMap();
+        mAMap = mAMapView.getMap();
+        mAMap.setOnMapLoadedListener(() -> {
+            Log.d(TAG, "---onMapLoaded---");
+            CustomMapStyleOptions customMapStyleOptions = new CustomMapStyleOptions();
+            // 加载自定义样式
+            customMapStyleOptions.setEnable(true);
+            if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
+                customMapStyleOptions.setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style.data"));
+                customMapStyleOptions.setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra.data"));
+            } else {
+                customMapStyleOptions.setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style_bus.data"));
+                customMapStyleOptions.setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra_bus.data"));
+            }
+            // 设置自定义样式
+            mAMap.setCustomMapStyle(customMapStyleOptions);
+            // 实时路况图层关闭，必须添加在loaded结束之后,其他位置不生效
+            mAMap.setTrafficEnabled(false);
+        });
        setUpMap();
        customOptions();
    }
@@ -195,98 +187,28 @@ public class AMapCustomView
     * 自定义导航View和路况状态
     */
    private void customOptions() {
-        AMapNaviViewOptions options = mAMapNaviView.getViewOptions();
-        //关闭自动绘制路线,自行绘制路线
-//        options.setAutoDrawRoute(false);
-        //不显示导航界面
-        options.setLayoutVisible(false);
-        options.setTilt(60);
-        //黑夜模式
-        options.setNaviNight(true);
-        //导航全程光柱
-        options.setTrafficBarEnabled(false);
-        //隐藏摄像头
-        options.setCameraBubbleShow(false);
-        //转向箭头
-        options.setNaviArrowVisible(false);
-        //指南针
-//        options.setCompassEnabled(false);
-//        options.setTilt((int) tilt);
-        //自车车标
-        options.setCarBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.map_car_icon));
-        options.setFourCornersBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.amap_custom_corner));
-        options.setStartPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_dir_start));
-        options.setWayPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.icon_module_small_map_four_corners));
-        options.setEndPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_dir_end));
-        //与走过的路线
-        options.setAfterRouteAutoGray(true);
-        //路线纹理自定义
-        RouteOverlayOptions routeOverlayOptions = new RouteOverlayOptions();
-        routeOverlayOptions.setTurnArrowIs3D(false);
-        // 未知路段和导航路段颜色一样
-        routeOverlayOptions.setUnknownTraffic(BitmapFactory.decodeResource(getResources(), R.drawable.amap_custom_smooth_route));//未知路段
-        routeOverlayOptions.setSmoothTraffic(BitmapFactory.decodeResource(getResources(), R.drawable.amap_custom_smooth_route));
-        routeOverlayOptions.setJamTraffic(BitmapFactory.decodeResource(getResources(), R.drawable.custtexture_bad));//拥堵路段
-        routeOverlayOptions.setVeryJamTraffic(BitmapFactory.decodeResource(getResources(), R.drawable.custtexture_grayred));//超级拥堵路段
-        routeOverlayOptions.setPassRoute(BitmapFactory.decodeResource(getResources(), R.drawable.amap_custom_pass_route));//走过的路段
-        options.setRouteOverlayOptions(routeOverlayOptions);
-        mAMapNaviView.setTrafficLightsVisible(true);
-        mAMapNaviView.setViewOptions(options);
+        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
+            mCarMarker = mAMap.addMarker(new MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_car_icon))
+                    .anchor(0.5f, 0.5f));
+            mCompassMarker = mAMap.addMarker(new MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.amap_custom_corner))
+                    .anchor(0.5f, 0.5f));
+        } else {
+            mCarMarker = mAMap.addMarker(new MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_bus_icon))
+                    .anchor(0.5f, 0.5f));
+            mCompassMarker = mAMap.addMarker(new MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.amap_bus_corner))
+                    .anchor(0.5f, 0.5f));
+        }
+
+        mStartMarker = mAMap.addMarker(new MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_start)));
+        mEndMarker = mAMap.addMarker(new MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_end)));
    }

-    private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener() {
-
-        @Override
-        public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
-
-        }
-
-        @Override
-        public void onAutopilotIpcConnectStatusChanged(int status, @org.jetbrains.annotations.Nullable String reason) {
-
-        }
-
-        @Override
-        public void onAutopilotGuardian(@org.jetbrains.annotations.Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
-
-        }
-
-        @Override
-        public void onAutopilotSNRequest() {
-
-        }
-
-        @Override
-        public void onAutopilotArriveAtStation(@org.jetbrains.annotations.Nullable MessagePad.ArrivalNotification arrivalNotification) {
-
-        }
-
-        @Override
-        public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
-            ThreadUtils.runOnUiThread(new Runnable() {
-                @Override
-                public void run() {
-                    if (autoPilotStatusInfo == null) return;
-                    int state = autoPilotStatusInfo.getState();
-                    //0 不能自动驾驶 1 可以自动驾驶,但是在人工干预 2 自动驾驶中
-                    if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
-                        Log.d(TAG, "自动驾驶中 state=" + String.valueOf(state));
-                        if (sList.size() == 0 && eList.size() == 0 && mWayPointList.size() == 0) {
-                            Log.d(TAG, "sendGlobalPathReq");
-                            AdasManager.getInstance().sendGlobalPathReq();
-                        }
-                    } else {
-                        int type = mAMapNavi.getNaviType();
-                        Log.d(TAG, "非自动驾驶状态,导航类型==" + String.valueOf(type));
-                        if (type == NaviType.GPS || type == NaviType.EMULATOR) {
-                            mAMapNavi.stopNavi();
-                        }
-                    }
-                }
-            });
-        }
-    };
-
    private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener() {

        @Override
@@ -301,52 +223,39 @@ public class AMapCustomView
         */
        @Override
        public void onAutopilotRotting(@org.jetbrains.annotations.Nullable MessagePad.GlobalPathResp globalPathResp) {
-            if (calculate == true && sList.size() == 0 && eList.size() == 0 && mWayPointList.size() == 0) {
-                return;
-            }
-            calculate = true;
            Log.d(TAG, "onAutopilotRotting");
-            List list = globalPathResp.getWayPointsList();
-            int minCount = 2;
-            if (list.size() >= minCount) {
-                calculate = true;
-                MessagePad.Location sLocation = (MessagePad.Location) list.get(0);
-                MessagePad.Location eLocation = (MessagePad.Location) list.get(list.size() - 1);
-                mStartLatlng = new NaviLatLng(sLocation.getLatitude(), sLocation.getLongitude());
-                mEndLatlng = new NaviLatLng(eLocation.getLatitude(), eLocation.getLongitude());
-                sList.clear();
-                eList.clear();
-                sList.add(mStartLatlng);
-                eList.add(mEndLatlng);
-
-                mWayPointList.clear();
-                for (int i = 1; i < list.size() - minCount; i++) {
-                    MessagePad.Location wayLoc = (MessagePad.Location) list.get(i);
-                    NaviLatLng way = new NaviLatLng(wayLoc.getLatitude(), wayLoc.getLongitude());
-                    mWayPointList.add(way);
-                }
-            }
-            int strategy = 0;
-            try {
-                //再次强调，最后一个参数为true时代表多路径，否则代表单路径
-                strategy = mAMapNavi.strategyConvert(true, false, false, false, false);
-            } catch (Exception e) {
-                e.printStackTrace();
-            }
-            Log.d(TAG, "全局路径" + list.size() + ",起点:" + sList.toString() + ",终点:" + eList.toString() + ",经点:" + mWayPointList.toString());
-            //指定路径绘制导航路线
-            mAMapNavi.calculateDriveRoute(sList, eList, mWayPointList, strategy);
-
-            drawInfrastructureMarkers(globalPathResp);
+            handlePlanningData(globalPathResp.getWayPointsList());
        }
    };

+    public void handlePlanningData(List<MessagePad.Location> locationList) {
+        List list = locationList;
+        // 转成高德坐标系并存储
+        MarkerDrawerManager.INSTANCE.updateRoutePoints(list, mContext);
+        List<LatLng> planningPointList = MarkerDrawerManager.INSTANCE.getPlanningPoints();
+        UiThreadHandler.post(() -> {
+            displayCustomOverView();
+            drawStartAndEndMarker(planningPointList);
+        });
+        MarkerDrawerManager.INSTANCE.setCallback((points, locIndex) -> {
+            // 每1s刷新一下轨迹线
+            UiThreadHandler.post(() -> {
+                if (points.size() > 0) {
+                    drawPolyline(points, locIndex);
+                }
+            });
+        });
+        MarkerDrawerManager.INSTANCE.startLoopCalCarLocation();
+        UiThreadHandler.post(() -> {
+            drawInfrastructureMarkers(locationList);
+        });
+    }
+
    @Override
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
        // 注册定位监听
        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
-        CallerAutoPilotStatusListenerManager.INSTANCE.removeListener(TAG);
        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
    }

@@ -358,395 +267,78 @@ public class AMapCustomView

    @Override
    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
-
-    }
-
-    private void removeLocation(Location latLng) {
-        for (LatLng l : mCoordinatesLatLng) {
-            if (!isPointOnCarFront(latLng, l)) {
-                mCoordinatesLatLng.remove(l);
+        mLocation = location;
+        MarkerDrawerManager.INSTANCE.setLonLat(new Pair(location.getLongitude(), location.getLatitude()));
+        UiThreadHandler.post(() -> {
+            drawCarMarker(location);
+            if (isFirstLocation) {
+                displayCustomOverView();
+                isFirstLocation = false;
            }
-        }
-    }
-
-    public static boolean isPointOnCarFront(Location carLocal, LatLng pointLocal) {
-        double carLon = carLocal.getLongitude();
-        double carLat = carLocal.getLatitude();
-        double poiLon = pointLocal.longitude;
-        double poiLat = pointLocal.latitude;
-        float carAngle = carLocal.getBearing();
-
-        // 计算车辆与点之间的夹角
-        int diffAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
-                carLon, carLat, poiLon, poiLat, (int) carAngle);
-
-        return diffAngle <= 90;
-    }
-
-
-    @Override
-    public void drawablePolyline() {
-    }
-
-
-    public LatLng CoordinateConverterFrom84(Context mContext, MogoLatLng mogoLatLng) {
-        CoordinateConverter mCoordinateConverter = new CoordinateConverter(mContext);
-        mCoordinateConverter.from(CoordinateConverter.CoordType.GPS);
-        mCoordinateConverter.coord(new LatLng(mogoLatLng.lat, mogoLatLng.lon));
-        return mCoordinateConverter.convert();
-    }
-
-    public List<LatLng> CoordinateConverterFrom84ForList(Context mContext, List<MogoLatLng> mogoLatLngList) {
-        List<LatLng> list = new ArrayList<>();
-        for (MogoLatLng m : mogoLatLngList) {
-            LatLng mogoLatLng = CoordinateConverterFrom84(mContext, m);
-            list.add(mogoLatLng);
-        }
-        return list;
-    }
-
-    @Override
-    public void clearPolyline() {
-        if (mPolyline != null) {
-            mPolyline.remove();
-        }
-    }
-
-    public void resetPolyLine() {
-        mCoordinatesLatLng.clear();
-        if (mPolyline != null) {
-            mPolyline.remove();
-        }
+        });
    }

    public void onCreateView(Bundle savedInstanceState) {
-        if (mAMapNaviView != null) {
-            mAMapNaviView.onCreate(savedInstanceState);
+        if (mAMapView != null) {
+            mAMapView.onCreate(savedInstanceState);
        }
    }

    public void onResume() {
-        if (mAMapNaviView != null) {
-            mAMapNaviView.onResume();
+        if (mAMapView != null) {
+            mAMapView.onResume();
        }
    }

    public void onPause() {
-        if (mAMapNaviView != null) {
-            mAMapNaviView.onPause();
+        if (mAMapView != null) {
+            mAMapView.onPause();
        }
    }

    public void onDestroy() {
-        if (mAMapNaviView != null) {
-            mAMapNaviView.onDestroy();
+        if (mAMapView != null) {
+            mAMapView.onDestroy();
        }
-        //since 1.6.0 不再在naviview destroy的时候自动执行AMapNavi.stopNavi();请自行执行
-        if (mAMapNavi != null) {
-            mAMapNavi.stopNavi();
-            mAMapNavi.destroy();
-        }
-        if (mAMapNaviView != null) {
-            mAMapNaviView.onDestroy();
+
+        if (mAMapView != null) {
+            mAMapView.onDestroy();
        }
    }

-    public void convert(List<MogoLatLng> coordinates) {
-
-    }
-
-    //多路径算路成功回调
-    @Override
-    public void onCalculateRouteSuccess(int[] ints) {
-        Log.d(TAG, "onCalculateRouteSuccess int");
-    }
-
-
-    @Override
-    public void onInitNaviFailure() {
-        calculate = false;
-        Log.d(TAG, "onInitNaviFailure");
-    }
-
-    @Override
-    public void onInitNaviSuccess() {
-        Log.d(TAG, "onInitNaviSuccess");
-
-    }
-
-    @Override
-    public void onStartNavi(int i) {
-        Log.d(TAG, "onStartNavi");
-
-    }
-
-    @Override
-    public void onTrafficStatusUpdate() {
-
-    }
-
-    @Override
-    public void onLocationChange(AMapNaviLocation aMapNaviLocation) {
-//        Log.d(TAG, "高德地图经纬度:" + aMapNaviLocation.getCoord().getLongitude() + "," + aMapNaviLocation.getCoord().getLatitude());
-
-    }
-
-    @Override
-    public void onGetNavigationText(int i, String s) {
-        Log.d(TAG, "onGetNavigationText int");
-    }
-
-    @Override
-    public void onGetNavigationText(String s) {
-        Log.d(TAG, "onGetNavigationText ss");
-
-    }
-
-    @Override
-    public void onEndEmulatorNavi() {
-        Log.d(TAG, "onEndEmulatorNavi");
-    }
-
-    @Override
-    public void onArriveDestination() {
-        Log.d(TAG, "onArriveDestination");
-    }
-
-    @Override
-    public void onCalculateRouteFailure(int i) {
-        Log.d(TAG, "onCalculateRouteFailure");
-    }
-
-    @Override
-    public void onReCalculateRouteForYaw() {
-        Log.d(TAG, "onReCalculateRouteForYaw");
-    }
-
-    @Override
-    public void onReCalculateRouteForTrafficJam() {
-        Log.d(TAG, "onReCalculateRouteForTrafficJam");
-    }
-
-    @Override
-    public void onArrivedWayPoint(int i) {
-        Log.d(TAG, "onArrivedWayPoint");
-    }
-
-    @Override
-    public void onGpsOpenStatus(boolean b) {
-        Log.d(TAG, "onGpsOpenStatus");
-    }
-
-    @Override
-    public void onNaviInfoUpdate(NaviInfo naviInfo) {
-        Log.d(TAG, "onNaviInfoUpdate");
-    }
-
-    @Override
-    public void onNaviInfoUpdated(AMapNaviInfo aMapNaviInfo) {
-        Log.d(TAG, "onNaviInfoUpdated");
-    }
-
-    @Override
-    public void updateCameraInfo(AMapNaviCameraInfo[] aMapNaviCameraInfos) {
-        Log.d(TAG, "updateCameraInfo");
-    }
-
-    @Override
-    public void updateIntervalCameraInfo(AMapNaviCameraInfo aMapNaviCameraInfo, AMapNaviCameraInfo aMapNaviCameraInfo1, int i) {
-        Log.d(TAG, "updateIntervalCameraInfo");
-    }
-
-    @Override
-    public void onServiceAreaUpdate(AMapServiceAreaInfo[] aMapServiceAreaInfos) {
-        Log.d(TAG, "onServiceAreaUpdate");
-    }
-
-    @Override
-    public void showCross(AMapNaviCross aMapNaviCross) {
-        Log.d(TAG, "showCross");
-    }
-
-    @Override
-    public void hideCross() {
-        Log.d(TAG, "hideCross");
-    }
-
-    @Override
-    public void showModeCross(AMapModelCross aMapModelCross) {
-        Log.d(TAG, "showModeCross");
-    }
-
-    @Override
-    public void hideModeCross() {
-        Log.d(TAG, "hideModeCross");
-    }
-
-    @Override
-    public void showLaneInfo(AMapLaneInfo[] aMapLaneInfos, byte[] bytes, byte[] bytes1) {
-        Log.d(TAG, "showLaneInfo");
-    }
-
-    @Override
-    public void showLaneInfo(AMapLaneInfo aMapLaneInfo) {
-        Log.d(TAG, "showLaneInfo");
-    }
-
-    @Override
-    public void hideLaneInfo() {
-        Log.d(TAG, "hideLaneInfo");
-    }
-
-    @Override
-    public void notifyParallelRoad(int i) {
-
-    }
-
-    @Override
-    public void OnUpdateTrafficFacility(AMapNaviTrafficFacilityInfo[] aMapNaviTrafficFacilityInfos) {
-
-    }
-
-    @Override
-    public void OnUpdateTrafficFacility(AMapNaviTrafficFacilityInfo aMapNaviTrafficFacilityInfo) {
-
-    }
-
-    @Override
-    public void OnUpdateTrafficFacility(TrafficFacilityInfo trafficFacilityInfo) {
-
-    }
-
-    @Override
-    public void updateAimlessModeStatistics(AimLessModeStat aimLessModeStat) {
-
-    }
-
-    @Override
-    public void updateAimlessModeCongestionInfo(AimLessModeCongestionInfo aimLessModeCongestionInfo) {
-
-    }
-
-    @Override
-    public void onPlayRing(int i) {
-
-    }
-
-    //算路详情
-    @Override
-    public void onCalculateRouteSuccess(AMapCalcRouteResult aMapCalcRouteResult) {
-        Log.d(TAG, "onCalculateRouteSuccess aMapCalcRouteResult" + aMapCalcRouteResult.toString());
-        //提测修改为EMULATOR
-        mAMapNavi.startNavi(NaviType.GPS);
-        UiThreadHandler.postDelayed(() -> {
-            mAMapNaviView.displayOverview();
-        }, 2000);
-        //停止导航测试代码
-//        UiThreadHandler.postDelayed(() -> {
-//            mAMapNavi.stopNavi();
-//            Log.d(TAG, "stop------------");
-//        }, 20000);
-    }
-
-    @Override
-    public void onCalculateRouteFailure(AMapCalcRouteResult aMapCalcRouteResult) {
-        Log.d(TAG, "onCalculateRouteFailure");
-    }
-
-    @Override
-    public void onNaviRouteNotify(AMapNaviRouteNotifyData aMapNaviRouteNotifyData) {
-        Log.d(TAG, "onNaviRouteNotify");
-    }
-
-    @Override
-    public void onNaviSetting() {
-
-    }
-
-    @Override
-    public void onNaviCancel() {
-
-    }
-
-    @Override
-    public boolean onNaviBackClick() {
-        return false;
-    }
-
-    @Override
-    public void onNaviMapMode(int i) {
-
-    }
-
-    @Override
-    public void onNaviTurnClick() {
-
-    }
-
-    @Override
-    public void onNextRoadClick() {
-
-    }
-
-    @Override
-    public void onScanViewButtonClick() {
-
-    }
-
-    @Override
-    public void onLockMap(boolean b) {
-
-    }
-
-    @Override
-    public void onNaviViewLoaded() {
-        Log.d(TAG, "---onNaviViewLoaded---");
-        CustomMapStyleOptions customMapStyleOptions = new CustomMapStyleOptions();
-        // 加载自定义样式
-        customMapStyleOptions.setEnable(true);
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-            customMapStyleOptions.setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style.data"));
-            customMapStyleOptions.setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra.data"));
-        } else {
-            customMapStyleOptions.setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style_bus.data"));
-            customMapStyleOptions.setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra_bus.data"));
+    public void clearCustomPolyline() {
+        if (mBottomPolyline != null) {
+            mBottomPolyline.remove();
+        }
+        if (mCoveredPolyline != null) {
+            mCoveredPolyline.remove();
        }
-        // 设置自定义样式
-        mAMap.setCustomMapStyle(customMapStyleOptions);
-        // 实时路况图层关闭，必须添加在loaded结束之后,其他位置不生效
-        mAMap.setTrafficEnabled(false);
    }

-    @Override
-    public void onMapTypeChanged(int i) {
-
-    }
-
-    @Override
-    public void onNaviViewShowMode(int i) {
-
-    }
-
-    private void drawInfrastructureMarkers(MessagePad.GlobalPathResp globalPathResp) {
-        if (globalPathResp != null) {
-            if (!pathMap.isEmpty()) {
-                pathMap.clear();
-            }
-            String geoHash;
-            ArrayList<Infrastructure> infList;
-            for (MessagePad.Location location : globalPathResp.getWayPointsList()) {
-                geoHash = GeoHash.withCharacterPrecision(location.getLatitude(), location.getLongitude(), 7).toBase32();
-                // 网格内的轨迹点只取一次
-                if (!pathMap.containsKey(geoHash)) {
-                    // 从缓存的新基建数据中去取对应geoHash的新基建数据集合
-                    infList = InfStructureManager.INSTANCE.getData().get(geoHash);
-                    if (infList != null) {
-                        pathMap.put(geoHash, infList);
-                    }
+    /**
+     * 绘制新基建Markers(比如：摄像头)
+     *
+     * @param locationList
+     */
+    private void drawInfrastructureMarkers(List<MessagePad.Location> locationList) {
+        if (!pathMap.isEmpty()) {
+            pathMap.clear();
+        }
+        String geoHash;
+        ArrayList<Infrastructure> infList;
+        for (MessagePad.Location location : locationList) {
+            LatLng latLng = MarkerDrawerManager.INSTANCE.coordinateConverterWgsToGcj(mContext, location);
+            geoHash = GeoHash.withCharacterPrecision(latLng.latitude, latLng.longitude, 7).toBase32();
+            // 网格内的轨迹点只取一次s
+            if (!pathMap.containsKey(geoHash)) {
+                // 从缓存的新基建数据中去取对应geoHash的新基建数据集合
+                infList = InfStructureManager.INSTANCE.getData().get(geoHash);
+                if (infList != null) {
+                    pathMap.put(geoHash, infList);
                }
            }
-            drawInfMarkers(pathMap);
        }
+        drawInfMarkers(pathMap);
    }

    public void drawInfMarkers(Map<String, ArrayList<Infrastructure>> infStruMap) {
@@ -782,7 +374,7 @@ public class AMapCustomView
        });
    }

-    private Bitmap getBitmap(int count)  {
+    private Bitmap getBitmap(int count) {
        MakerWithCount marker = new MakerWithCount(getContext());
        marker.setCount(count);

@@ -793,4 +385,114 @@ public class AMapCustomView
        marker.draw(new Canvas(bitmap));
        return bitmap;
    }
+
+    /**
+     * 进入自定义全览模式
+     */
+    private void displayCustomOverView() {
+        ArrayList<LatLng> linePointsLatLng = MarkerDrawerManager.INSTANCE.getPlanningPoints();
+        MogoLocation location = mLocation;
+        if (linePointsLatLng.size() > 1) {
+            //圈定地图显示范围
+            //存放经纬度
+            LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder();
+            for (int i = 0; i < linePointsLatLng.size(); i++) {
+                boundsBuilder.include(linePointsLatLng.get(i));
+            }
+            LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
+            boundsBuilder.include(currentLatLng);
+
+            CameraPosition cameraPosition = new CameraPosition.Builder().tilt(mTilt).build();
+            //第二个参数为四周留空宽度
+            mAMap.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(), 100, 100, 100, 100));
+            mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
+        } else {
+            //设置希望展示的地图缩放级别
+            CameraPosition cameraPosition = new CameraPosition.Builder()
+                    .target(mCarMarker.getPosition()).tilt(0).zoom(zoomLevel).build();
+            mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
+        }
+    }
+
+    /**
+     * 绘制自车
+     *
+     * @param location
+     */
+    private void drawCarMarker(MogoLocation location) {
+        if (location == null) return;
+        if (mCarMarker != null) {
+            LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
+            mCarMarker.setRotateAngle(360 - location.getBearing());
+            mCarMarker.setPosition(currentLatLng);
+            mCarMarker.setToTop();
+            if (mCompassMarker != null) {
+                mCompassMarker.setRotateAngle(360 - location.getBearing());
+                mCompassMarker.setPosition(currentLatLng);
+            }
+        }
+    }
+
+    /**
+     * 绘制起始点、终点
+     */
+    private void drawStartAndEndMarker(List<LatLng> coordinates) {
+        if (mStartMarker != null) {
+            mStartMarker.setVisible(false);
+        }
+        if (mEndMarker != null) {
+            mEndMarker.setVisible(false);
+        }
+        if (coordinates.size() > 2) {
+            // 设置开始结束Marker位置
+
+            LatLng startLatLng = coordinates.get(0);
+            LatLng endLatLng = coordinates.get(coordinates.size() - 1);
+
+            mStartMarker.setPosition(startLatLng);
+            mEndMarker.setPosition(endLatLng);
+            mStartMarker.setVisible(true);
+            mEndMarker.setVisible(true);
+        }
+    }
+
+    /**
+     * 绘制轨迹线
+     *
+     * @param coordinates
+     * @param locIndex
+     */
+    private void drawPolyline(List<LatLng> coordinates, int locIndex) {
+        if (textureList.size() > 0) {
+            textureList.clear();
+        }
+        if (texIndexList.size() > 0) {
+            texIndexList.clear();
+        }
+        for (int i = 0; i < coordinates.size(); i++) {
+            if (i <= locIndex) {
+                // 已走过的置灰
+                textureList.add(arrivedBitmap);
+            } else {
+                // 未走过的纹理
+                textureList.add(unArrivedBitmap);
+            }
+            texIndexList.add(i);
+        }
+        if (mAMap != null && coordinates.size() > 2) {
+            //设置线段纹理
+            PolylineOptions polylineOptions = new PolylineOptions();
+            polylineOptions.addAll(coordinates);
+            polylineOptions.width(14); //线段宽度
+            polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapRound);
+            polylineOptions.setCustomTextureList(textureList);
+            polylineOptions.setCustomTextureIndex(texIndexList);
+            // 绘制线
+            mBottomPolyline = mCoveredPolyline;
+            mCoveredPolyline = mAMap.addPolyline(polylineOptions);
+            if (mBottomPolyline != null) {
+                mBottomPolyline.remove();
+            }
+        }
+    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
@@ -0,0 +1,165 @@
+package com.mogo.eagle.core.function.smp
+
+import android.content.Context
+import android.util.Log
+import com.amap.api.maps.CoordinateConverter
+import com.amap.api.maps.model.LatLng
+import com.mogo.cloud.commons.utils.CoordinateUtils
+import io.reactivex.Observable
+import io.reactivex.ObservableOnSubscribe
+import io.reactivex.android.schedulers.AndroidSchedulers
+import io.reactivex.disposables.CompositeDisposable
+import io.reactivex.schedulers.Schedulers
+import mogo.telematics.pad.MessagePad
+import java.util.concurrent.TimeUnit
+
+/**
+ * 自定义高德地图画线管理者
+ */
+object MarkerDrawerManager {
+
+    interface Callback {
+        fun onLocationChanged(planningPoints: List<LatLng>, locIndex: Int)
+    }
+
+    private val routeWipeDisposable by lazy {
+        CompositeDisposable()
+    }
+
+    // 自主画线的所有高德坐标系的轨迹点
+    val planningPoints by lazy {
+        ArrayList<LatLng>()
+    }
+
+    @Volatile
+    var lastArrivedIndex: Int = -1
+
+    @Volatile
+    var lonLat = Pair(0.0, 0.0)
+
+    var callback: Callback? = null
+
+    fun startLoopCalCarLocation() {
+        getLoopCalCarObservable().delay(1000L, TimeUnit.MILLISECONDS, true)
+            .subscribeOn(Schedulers.io())
+            .repeat()
+            .retry()
+            .observeOn(AndroidSchedulers.mainThread())
+            .subscribe().let {
+                routeWipeDisposable.add(it)
+            }
+    }
+
+    fun stopLoopCalCarLocation() {
+        if (!routeWipeDisposable.isDisposed) {
+            routeWipeDisposable.dispose()
+        }
+    }
+
+    private fun getLoopCalCarObservable(): Observable<Int> {
+        return Observable.create(ObservableOnSubscribe { emitter ->
+            if (emitter.isDisposed) return@ObservableOnSubscribe
+            loopRouteAndWipe(planningPoints, lonLat.first, lonLat.second)
+            emitter.onComplete()
+        })
+    }
+
+    private fun loopRouteAndWipe(routePoints: List<LatLng>?, lon: Double, lat: Double) {
+        if (routePoints != null && routePoints.isNotEmpty()) {
+            val arrivedIndex: Int = getArrivedPointIndex(routePoints, lon, lat)
+            Log.d("cff", "thread is:${Thread.currentThread().name},arrivedIndex is:$arrivedIndex")
+            if (arrivedIndex != -1 && lastArrivedIndex != arrivedIndex) {
+                callback?.onLocationChanged(routePoints, arrivedIndex)
+                lastArrivedIndex = arrivedIndex
+            }
+        }
+    }
+
+    fun updateRoutePoints(routePoints: List<MessagePad.Location>?, context: Context) {
+        if (routePoints == null || routePoints.isEmpty()) return
+        val latLngModels = coordinateConverterWgsToGcjListCommon(context, routePoints)
+        planningPoints.clear()
+        planningPoints.addAll(latLngModels)
+//        float remainingSumLength = calculateRemainingSumLength(mRoutePoints);
+    }
+
+    /**
+     * @param routePoints
+     * @param realLon
+     * @param realLat
+     * @return 返回已经到达点的index
+     */
+    private fun getArrivedPointIndex(
+        routePoints: List<LatLng>,
+        realLon: Double,
+        realLat: Double
+    ): Int {
+        var currentIndex = 0 //记录疑似点
+        if (routePoints.isNotEmpty()) {
+            //基础点
+            val baseLatLng = routePoints[0]
+            var baseDiffDis = CoordinateUtils.calculateLineDistance(
+                realLon, realLat, baseLatLng.longitude, baseLatLng.latitude
+            ) // lon,lat, prelon, prelat
+            for (i in 1 until routePoints.size) {
+                val latLng = routePoints[i]
+                val diff = CoordinateUtils.calculateLineDistance(
+                    realLon, realLat, latLng.longitude, latLng.latitude
+                )
+                if (baseDiffDis > diff) {
+                    baseDiffDis = diff
+                    currentIndex = i
+                }
+            }
+            return currentIndex
+        }
+        return currentIndex
+    }
+
+    /**
+     *
+     * @param points
+     * @return 剩余的总距离
+     */
+    private fun calculateRemainingSumLength(points: List<LatLng>?): Float {
+        if (null == points || points.isEmpty()) return 0F
+        var sumLength = 0f
+
+        //计算全路径总距离
+        var i = 0
+        while (i + 1 < points.size) {
+            val preLat = points[i].latitude
+            val preLon = points[i].longitude
+            val laLat = points[i + 1].latitude
+            val laLon = points[i + 1].longitude
+            val length = CoordinateUtils.calculateLineDistance(laLon, laLat, preLon, preLat)
+            sumLength += length
+            i++
+        }
+        return sumLength
+    }
+
+    private fun coordinateConverterWgsToGcjListCommon(
+        mContext: Context,
+        models: List<MessagePad.Location>
+    ): List<LatLng> {
+        //转成MogoLatLng集合
+        val list: MutableList<LatLng> = java.util.ArrayList()
+        for (m in models) {
+            val mogoLatLng = coordinateConverterWgsToGcj(mContext, m)
+            list.add(mogoLatLng)
+        }
+        return list
+    }
+
+    fun coordinateConverterWgsToGcj(
+        mContext: Context,
+        mogoLatLng: MessagePad.Location
+    ): LatLng {
+        val mCoordinateConverter =
+            CoordinateConverter(mContext)
+        mCoordinateConverter.from(CoordinateConverter.CoordType.GPS)
+        mCoordinateConverter.coord(LatLng(mogoLatLng.latitude, mogoLatLng.longitude))
+        return mCoordinateConverter.convert()
+    }
+}
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/OverviewMapFragment.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/OverviewMapFragment.java
@@ -4,32 +4,18 @@ import android.content.Context;
 import android.os.Bundle;
 import android.view.View;

-import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;

 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.commons.mvp.BaseFragment;
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
 import com.mogo.eagle.core.data.map.MogoLatLng;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.map.R;
 import com.mogo.eagle.core.function.overview.InfStructureManager;
-import com.mogo.eagle.core.data.map.Infrastructure;
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler;

-import org.jetbrains.annotations.NotNull;
-
-import java.util.ArrayList;
 import java.util.List;
-import java.util.Map;
-
-import mogo.telematics.pad.MessagePad;
-import mogo_msg.MogoReportMsg;
-import system_master.SystemStatusInfo;

 /**
 * @author donghongyu
@@ -38,8 +24,7 @@ import system_master.SystemStatusInfo;
 */
@Route(path = MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
 public class OverviewMapFragment extends BaseFragment
-        implements IMogoSmallMapProvider, IMoGoAutopilotPlanningListener,
-        IMoGoAutopilotStatusListener {
+        implements IMogoSmallMapProvider {
    private final String TAG = "SmallMapFragment";
    protected AMapCustomView mAMapCustomView;

@@ -68,7 +53,6 @@ public class OverviewMapFragment extends BaseFragment
        super.initViews(savedInstanceState);
        mAMapCustomView = mRootView.findViewById(R.id.smallMapDirectionView);
        mAMapCustomView.onCreateView(savedInstanceState);
-        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
    }

    @Override
@@ -87,17 +71,10 @@ public class OverviewMapFragment extends BaseFragment

    @Override
    public void drawablePolyline(List<MogoLatLng> coordinates) {
-        if (mAMapCustomView != null) {
-            mAMapCustomView.convert(coordinates);
-            UiThreadHandler.post(() -> mAMapCustomView.drawablePolyline());
-        }
    }

    @Override
    public void clearPolyline() {
-        if (mAMapCustomView != null) {
-            UiThreadHandler.post(() -> mAMapCustomView.clearPolyline());
-        }
    }

    @Override
@@ -106,6 +83,7 @@ public class OverviewMapFragment extends BaseFragment
        if (mAMapCustomView != null) {
            mAMapCustomView.onResume();
        }
+        mAMapCustomView.handlePlanningData(InfStructureManager.INSTANCE.getPlanningData());
    }

    @Override
@@ -140,56 +118,4 @@ public class OverviewMapFragment extends BaseFragment
        }
        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
    }
-
-    @Override
-    public void onAutopilotTrajectory(List<MessagePad.TrajectoryPoint> trajectoryInfos) {
-
-    }
-
-    @Override
-    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
-        if (autoPilotStatusInfo.getPilotmode() != 1) {
-            clearPolyline();
-        }
-    }
-
-    @Override
-    public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {
-
-    }
-
-    @Override
-    public void onAutopilotSNRequest() {
-
-    }
-
-    @Override
-    public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
-
-    }
-
-    @Override
-    public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
-    }
-
-    @Override
-    public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {
-        if (globalPathResp == null || globalPathResp.getWayPointsList().size() == 0) {
-            return;
-        }
-        List<MogoLatLng> latLngList = new ArrayList<>();
-        for (MessagePad.Location routeModel : globalPathResp.getWayPointsList()) {
-            latLngList.add(new MogoLatLng(routeModel.getLatitude(), routeModel.getLongitude()));
-        }
-        if (latLngList.size() > 0) {
-            drawablePolyline(latLngList);
-        } else {
-            clearPolyline();
-        }
-    }
-
-    @Override
-    public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
-
-    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/amap_bus_corner.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/amap_bus_corner.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/amap_bus_smooth_route.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/amap_bus_smooth_route.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/arrow_arrived_img.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/arrow_arrived_img.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/map_bus_icon.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/map_bus_icon.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/amap_bus_corner.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/amap_bus_corner.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/amap_bus_smooth_route.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/amap_bus_smooth_route.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/amap_custom_smooth_route.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/amap_custom_smooth_route.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/arrow_arrived_img.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/arrow_arrived_img.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/map_bus_icon.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/map_bus_icon.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/layout/module_overview_map_view.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/layout/module_overview_map_view.xml
@@ -17,8 +17,8 @@
        android:layout_height="match_parent"
        android:layout_centerInParent="true">

-        <com.amap.api.navi.AMapNaviView
-            android:id="@+id/aMapNaviView"
+        <com.amap.api.maps.TextureMapView
+            android:id="@+id/aMapView"
            android:layout_width="match_parent"
            android:layout_height="match_parent" />

--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.api.devatools

 import android.app.Activity
 import android.content.Context
-import android.view.View
+import android.view.*
 import com.alibaba.android.arouter.facade.template.IProvider
 import com.mogo.eagle.core.data.deva.chain.ChainLogParam
 import com.mogo.eagle.core.data.deva.scene.SceneModule
@@ -107,10 +107,10 @@ interface IDevaToolsProvider : IProvider {
    /**
     * 展示状态栏
     */
-    fun showStatusBar(ctx: Context, anchor: View)
+    fun showStatusBar(ctx: Context, container: ViewGroup)

    /**
     * 隐藏状态栏
     */
-    fun hideStatusBar()
+    fun hideStatusBar(container: ViewGroup)
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
@@ -150,27 +150,18 @@ object CallerDevaToolsManager {
    /**
     * 展示状态栏
     */
-    fun showStatusBar(ctx: Context, anchor: View) {
+    fun showStatusBar(ctx: Context, container: ViewGroup) {
        if (!AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            if (anchor.isLaidOut) {
-                devaToolsProviderApi?.showStatusBar(ctx, anchor)
-            } else {
-                anchor.viewTreeObserver.addOnGlobalLayoutListener(object : ViewTreeObserver.OnGlobalLayoutListener {
-                    override fun onGlobalLayout() {
-                        devaToolsProviderApi?.showStatusBar(ctx, anchor)
-                        anchor.viewTreeObserver.removeOnGlobalLayoutListener(this)
-                    }
-                })
-            }
+            devaToolsProviderApi?.showStatusBar(ctx, container)
        }
    }

    /**
     * 隐藏状态栏
     */
-    fun hideStatusBar() {
+    fun hideStatusBar(container: ViewGroup) {
        if (!AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            devaToolsProviderApi?.hideStatusBar()
+            devaToolsProviderApi?.hideStatusBar(container)
        }
    }
 }
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/reminder/Reminder.kt
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/reminder/Reminder.kt
@@ -100,17 +100,23 @@ object Reminder {
        if (key.isEmpty()) {
            throw IllegalStateException("reminder: ${reminder.javaClass.name}'s key can't be empty.")
        }
-        if (enqueued.contains(key)) {
-            return
+        synchronized(enqueued) {
+            if (enqueued.contains(key)) {
+                return
+            }
+            enqueued += key
        }
-        enqueued += key
-        attaches.getOrPut(attachTo) {
-            mutableListOf()
-        }.also {
-            it.add(WeakReference(reminder))
+        synchronized(attaches) {
+            attaches.getOrPut(attachTo) {
+                mutableListOf()
+            }.also {
+                it.add(WeakReference(reminder))
+            }
        }
-        listener?.let {
-            reminderListeners[reminder] = it
+        synchronized(reminderListeners) {
+            listener?.let {
+               reminderListeners[reminder] = it
+            }
        }
        scope.launch {
            if (reminder is ActivityReminder) {
@@ -131,11 +137,14 @@ object Reminder {
            heap += reminder
            dequeueHeap()
        } else {
-            queue += reminder
            val pre = findPreShowedReminder()
            if (pre != null) {
                pre.hide()
+                queue.clear()
+                queue += reminder
            } else {
+                queue.clear()
+                queue += reminder
                dequeue()
            }
        }
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/reminder/api/impl/PopupWindowReminder.kt
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/reminder/api/impl/PopupWindowReminder.kt
@@ -4,7 +4,7 @@ import android.widget.PopupWindow
 import androidx.lifecycle.LifecycleOwner
 import com.mogo.eagle.core.utilcode.reminder.api.IReminder

-abstract class PopupWindowReminder(val popupWindow: PopupWindow): IReminder {
+abstract class PopupWindowReminder(open val popupWindow: PopupWindow): IReminder {

    override fun lifecycleOwner(): LifecycleOwner = popupWindow.lifecycleOwner

--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/rv/divider/CommonDividerItemDecoration.kt
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/rv/divider/CommonDividerItemDecoration.kt
@@ -31,12 +31,15 @@ class CommonDividerItemDecoration internal constructor(builder: Builder) : ItemD
    private var mSpanCountTBCare = false
    private val mHorizontalExternalSpace: Int
    private val mVerticalExternalSpace: Int
-    private var mLastRight = 0
-    private var mLastBottom = 0
    private var mFromPosition = 0
    private var mHorizontalDelta: Pair<Int, Int>? = null
    private var mVerticalDelta: Pair<Int, Int>? = null

+    private var mRightCache: HashMap<Int, Int> = HashMap()
+    private var mLeftCache: HashMap<Int, Int> = HashMap()
+    private var mBottomCache: HashMap<Int, Int> = HashMap()
+    private var mTopCache: HashMap<Int, Int> = HashMap()
+
    /**
     * 外部间隔结束位置是否需要
     */
@@ -84,23 +87,28 @@ class CommonDividerItemDecoration internal constructor(builder: Builder) : ItemD
                        }
                    } else {
                        val averageDistance = (((spanCount - 1) * mHorizontalInnerSpace + 2 * mHorizontalExternalSpace + deltaHL + deltaHR) * 1.0f / spanCount).toInt()
-                        Log.d("UUUU", "step::0::$averageDistance: lastRight: $mLastRight : state: $state " )
                        if (spanIndex == 0) {
                            outRect.left = mHorizontalExternalSpace + deltaHL
                            outRect.right = averageDistance - outRect.left
-                            mLastRight = outRect.right
-                            Log.d("UUUU", "step::1::$averageDistance: lastRight: $mLastRight" )
+                            if (state.didStructureChange()) {
+                                mRightCache[position] = outRect.right
+                            }
+                            Log.d("UUUU", "step::1::$averageDistance: outRect.right: ${outRect.right} ::outRect.left: ${outRect.left}:: position: $position :: state: $state" )
                        } else if (spanIndex == spanCount - 1) {
                            outRect.right = mHorizontalExternalSpace + deltaHR
                            outRect.left = averageDistance - outRect.right
-                            Log.d("UUUU", "step::2::$averageDistance: lastRight: $mLastRight ::outRect.left: ${outRect.left}" )
+                            Log.d("UUUU", "step::2::$averageDistance: outRect.right: ${outRect.right} ::outRect.left: ${outRect.left} :: position: $position :: state: $state" )
                        } else {
-                            outRect.left = mHorizontalInnerSpace - mLastRight
-                            outRect.right = averageDistance - outRect.left
                            if (state.didStructureChange()) {
-                                mLastRight = outRect.right
+                                outRect.left = mHorizontalInnerSpace - (mRightCache[position - 1] ?: 0)
+                                outRect.right = averageDistance - outRect.left
+                                mLeftCache[position] = outRect.left
+                                mRightCache[position] = outRect.right
+                            } else {
+                                outRect.left = mLeftCache[position]!!
+                                outRect.right = mRightCache[position]!!
                            }
-                            Log.d("UUUU", "step::2::$averageDistance: lastRight: $mLastRight ::outRect.left: ${outRect.left}" )
+                            Log.d("UUUU", "step::2::$averageDistance: outRect.right: ${outRect.right} ::outRect.left: ${outRect.left} :: position: $position :: state: $state" )
                        }
                    } //所在的行数
                    if (lookUp.getSpanGroupIndex(childPosition, spanCount) == lookUp.getSpanGroupIndex(mFromPosition, spanCount)) {
@@ -130,15 +138,21 @@ class CommonDividerItemDecoration internal constructor(builder: Builder) : ItemD
                        if (spanIndex == 0) {
                            outRect.top = mVerticalExternalSpace + deltaVT
                            outRect.bottom = averageDistance - outRect.top
-                            mLastBottom = outRect.bottom
+                            if (state.didStructureChange()) {
+                                mBottomCache[position] = outRect.bottom
+                            }
                        } else if (spanIndex == spanCount - 1) {
                            outRect.top = mVerticalExternalSpace + deltaVB
                            outRect.bottom = averageDistance - outRect.top
                        } else {
-                            outRect.top = mVerticalInnerSpace - mLastBottom
-                            outRect.bottom = averageDistance - outRect.top
                            if (state.didStructureChange()) {
-                                mLastBottom = outRect.bottom
+                                outRect.top = mVerticalInnerSpace - (mBottomCache[position - 1] ?: 0 )
+                                outRect.bottom = averageDistance - outRect.top
+                                mBottomCache[position] = outRect.bottom
+                                mTopCache[position] = outRect.top
+                            } else {
+                                outRect.top = mTopCache[position]!!
+                                outRect.bottom = mBottomCache[position]!!
                            }
                        }
                    }
@@ -223,15 +237,21 @@ class CommonDividerItemDecoration internal constructor(builder: Builder) : ItemD
                    if (spanIndex == 0) {
                        outRect.left = mHorizontalExternalSpace + deltaHL
                        outRect.right = averageDistance - outRect.left
-                        mLastRight = outRect.right
+                        if (state.didStructureChange()) {
+                            mRightCache[position] = outRect.right
+                        }
                    } else if (spanIndex == spanCount - 1) {
                        outRect.right = mHorizontalExternalSpace + deltaHR
                        outRect.left = averageDistance - outRect.right
                    } else {
-                        outRect.left = mHorizontalInnerSpace - mLastRight
-                        outRect.right = averageDistance - outRect.left
                        if (state.didStructureChange()) {
-                            mLastRight = outRect.right
+                            outRect.left = mHorizontalInnerSpace - (mRightCache[position - 1] ?: 0)
+                            outRect.right = averageDistance - outRect.left
+                            mLeftCache[position] = outRect.left
+                            mRightCache[position] = outRect.right
+                        } else {
+                            outRect.left = mLeftCache[position]!!
+                            outRect.right = mRightCache[position]!!
                        }
                    }
                }
@@ -282,15 +302,22 @@ class CommonDividerItemDecoration internal constructor(builder: Builder) : ItemD
                    if (spanIndex == 0) {
                        outRect.top = mVerticalExternalSpace + deltaVT
                        outRect.bottom = averageDistance - outRect.top
-                        mLastBottom = outRect.bottom
+                        if (state.didStructureChange()) {
+                            mBottomCache[position] = outRect.bottom
+                        }
                    } else if (spanIndex == spanCount - 1) {
                        outRect.top = mVerticalExternalSpace + deltaVB
                        outRect.bottom = averageDistance - outRect.top
                    } else {
-                        outRect.top = mVerticalInnerSpace - mLastBottom
-                        outRect.bottom = averageDistance - outRect.top
+
                        if (state.didStructureChange()) {
-                            mLastBottom = outRect.bottom
+                            outRect.top = mVerticalInnerSpace - (mBottomCache[position - 1] ?: 0)
+                            outRect.bottom = averageDistance - outRect.top
+                            mBottomCache[position] = outRect.bottom
+                            mTopCache[position] = outRect.top
+                        } else {
+                            outRect.top = mTopCache[position]!!
+                            outRect.bottom = mBottomCache[position]!!
                        }
                    }
                }
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java
@@ -2,8 +2,7 @@ package com.zhidao.support.adas.high.common;

 /**
 * 监控事件报告中定义的事件以及解释
- * 根据250消息定义编写
- * http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=79433139
+ * 根据260消息定义编写
 */
 public class MogoReport {
    private static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";
@@ -223,7 +222,7 @@ public class MogoReport {
                String AUTOPILOT_FAILED = "ESYS_AUTOPILOT_FAILED";//在尝试启动自动驾驶，但是超过指定时间后底盘未进入，会发送此事件
                @Deprecated
                String IN_INIT = "ESYS_IN_INIT";//系统处于启动中，拒绝进入自动驾驶/远程驾驶
-                String IN_EXIT = "ESYS_IN_EXIT";//系统处于退出中，拒绝进入自动驾驶/远程驾驶
+                String IN_EXIT = "ESYS_IN_EXIT";//系统处于退出中，拒绝进入自动驾驶
                String NOT_ALLOW_AUTOPILOT_FOR_REMOTE = "ESYS_NOT_ALLOW_AUTOPILOT_FOR_REMOTE";//系统处于远程驾驶中，拒绝进入自动驾驶
                String NOT_ALLOW_REBOOT = "ESYS_NOT_ALLOW_REBOOT";//重启拒绝
                String TOPIC_FREQ_DROPED = "ESYS_TOPIC_FREQ_DROPED";//存在topic严重掉频
@@ -232,6 +231,7 @@ public class MogoReport {
                String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ESYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管
                String ROUTING_REQ_TIMEOUT = "ESYS_ROUTING_REQ_TIMEOUT";//自动驾驶开始前，routing请求无响应
                String PLANNING_CHANGE_FAILIED = "ESYS_PLANNING_CHANGE_FAILIED";//planning版本切换启动失败
+                String CHECK_TRAJECTORY_FAILURE = "ESYS_CHECK_TRAJECTORY_FAILURE";//轨迹文件检查超时或检查结果无可用轨迹
                String FAULT = "ESYS_FAULT";//master启动10分钟，仍有agent未连接
            }

@@ -331,6 +331,7 @@ public class MogoReport {

            interface ILCT {
                String RTK_STATUS_NORMAL = "ILCT_RTK_STATUS_NORMAL";//rtk状态正常或恢复正常
+                String RTK_OR_SLAM_CHANGE = "ILCT_RTK_OR_SLAM_CHANGE";//定位输出源发生RTK和SLAM变换
            }
        }
    }
--- a/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1440/dimens.xml
+++ b/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1440/dimens.xml
@@ -1,11 +1,15 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <resources>
    <dimen name="dp_12">12px</dimen>
+    <dimen name="dp_14">14px</dimen>
    <dimen name="dp_20">20px</dimen>
    <dimen name="dp_22">22px</dimen>
    <dimen name="dp_43">43px</dimen>
+    <dimen name="dp_50">50px</dimen>
    <dimen name="dp_57">57px</dimen>
+    <dimen name="dp_60">60px</dimen>
    <dimen name="dp_72">72px</dimen>
+    <dimen name="dp_80">80px</dimen>
    <dimen name="dp_88">88px</dimen>
    <dimen name="module_v2n_tip_text_margin_right">26px</dimen>
    <dimen name="warning_distance_right">30px</dimen>
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -77,7 +77,7 @@ public class MogoRouteOverlayManager implements
            return;
        }
        synchronized (queue) {
-            List<MessagePad.TrajectoryPoint> items = queue.getLast();
+            List<MessagePad.TrajectoryPoint> items = queue.peekLast();
            if (items != null && !items.isEmpty()) {
                RouteOverlayDrawer.getInstance().drawTrajectoryList(items, location.getBearing());
            }
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
@@ -1,14 +1,12 @@
 package com.mogo.module.service.routeoverlay;

 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_OLD_ROUTE;
-
 import android.annotation.SuppressLint;
 import android.graphics.Color;
 import android.os.Handler;
 import android.os.HandlerThread;
 import android.os.SystemClock;
 import android.util.Log;
-
 import androidx.core.util.Pools;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -19,7 +17,6 @@ import com.mogo.map.overlay.IMogoOverlayManager;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.map.overlay.MogoPolylineOptions;
 import com.mogo.module.common.utils.DrivingDirectionUtils;
-
 import java.util.LinkedList;
 import java.util.List;
 import mogo.telematics.pad.MessagePad;
@@ -29,33 +26,18 @@ public class RouteOverlayDrawer {
    private static final String TAG = "MogoRouteOverlayManager";

    // 连接线参数
-
    private Handler mRenderHandler;
    IMogoOverlayManager mogoOverlayManager;
    private static volatile RouteOverlayDrawer sInstance;
    private final MogoPolylineOptions mPolylineOptions;
    private volatile IMogoPolyline mMoGoPolyline;
-   // private FileWriter writer;
+    private static final int COLOR_LIGHT = Color.parseColor("#BAEBF5");
+
    private RouteOverlayDrawer() {
        mPolylineOptions = new MogoPolylineOptions();
        mPolylineOptions.zIndex(75000f);
        mPolylineOptions.setGps(true);
        mPolylineOptions.width(20).useGradient(true);
-//        try {
-//            File log = new File(Environment.getExternalStorageDirectory(), "log.txt");
-//            if (log.exists()) {
-//                log.delete();
-//            }
-//            if (log.getParentFile() != null && !log.getParentFile().exists()) {
-//                log.getParentFile().mkdirs();
-//            }
-//
-//            log.createNewFile();
-//            writer = new FileWriter(log, false);
-//        } catch (Throwable t) {
-//
-//        }
-
        // 渐变色
        mogoOverlayManager = MogoOverlayManager.getInstance();
        // 线条粗细，渐变，渐变色值
@@ -191,48 +173,13 @@ public class RouteOverlayDrawer {
                    RouteStrategy.INSTANCE.end();
                    Strategy strategy = RouteStrategy.INSTANCE.getStrategy();
                    List<Integer> colors = strategy.getColors();
-//                    StringBuilder sb = new StringBuilder();
-//                    int colorIndex = 0;
-//                    sb.append("=========================================\n");
-//                    for (MogoLatLng p : points) {
-//                        sb.append(p.lat);
-//                        sb.append(",");
-//                        sb.append(p.lon);
-//                        sb.append(",");
-//                        sb.append(p.acc);
-//                        sb.append(",");
-//                        sb.append(p.speed);
-//                        if (colorIndex < colors.size()) {
-//                            int color = colors.get(colorIndex);
-//                            sb.append(",");
-//                            sb.append(color);
-//                            sb.append(",");
-//                            sb.append(Color.red(color));
-//                            sb.append(",");
-//                            sb.append(Color.green(color));
-//                            sb.append(",");
-//                            sb.append(Color.blue(color));
-//                            sb.append(",");
-//                            sb.append(Color.alpha(color));
-//                            colorIndex ++;
-//                        }
-//                        sb.append("\n");
-//                    }
-//                    try {
-//                        if (writer != null) {
-//                            writer.write(sb.toString());
-//                            writer.flush();
-//                        }
-//                    } catch (Throwable t) {
-//
-//                    }
                    boolean isLightOn = strategy instanceof ColorfulStrategy && ((ColorfulStrategy) strategy).isLightOn();
                    if (mMoGoPolyline == null || mMoGoPolyline.isDestroyed()) {
                        mPolylineOptions.points(points);
                        mPolylineOptions.colorValues(colors);
                        if (isLightOn) {
                            mPolylineOptions.openBright(true);
-                            mPolylineOptions.brightColor(Color.parseColor("#D2F2F8"));
+                            mPolylineOptions.brightColor(COLOR_LIGHT);
                            mPolylineOptions.brightSpeed(0.5f);
                        } else  {
                            mPolylineOptions.openBright(false);
@@ -243,7 +190,7 @@ public class RouteOverlayDrawer {
                        mPolylineOptions.colorValues(colors);
                        if (isLightOn) {
                            mPolylineOptions.openBright(true);
-                            mPolylineOptions.brightColor(Color.parseColor("#D2F2F8"));
+                            mPolylineOptions.brightColor(COLOR_LIGHT);
                            mPolylineOptions.brightSpeed(0.5f);
                        } else  {
                            mPolylineOptions.openBright(false);
--- a/test/crashreport-apmbyte/src/main/java/com/mogo/test/crashreport/apm/ApmCrashReportProvider.java
+++ b/test/crashreport-apmbyte/src/main/java/com/mogo/test/crashreport/apm/ApmCrashReportProvider.java
@@ -38,6 +38,10 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {

    private static final String TAG = "ApmCrashReportProvider";
    private static final String MAP_SDK_VERSION = "MAP_SDK_VERSION";
+    private CarInfo mInfo = null;
+    private String mCityCode;
+    private String mLat;
+    private String mLogt;

    @Override
    public void init(Context context) {
@@ -54,27 +58,28 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
                        HashMap<String, String> map = new HashMap<>();
                        //车辆信息
                        String carInfoString = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.CAR_INFO);
-                        CarInfo info = null;
+
                        if (carInfoString != null && !carInfoString.isEmpty()) {
-                            info = GsonUtils.fromJson(carInfoString, CarInfo.class);
+                            mInfo = GsonUtils.fromJson(carInfoString, CarInfo.class);
                        }

                        //车辆所在位置
-                        String cityCode = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.LOCATION_CITY_CODE);
-                        String lat = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.LOCATION_LATITUDE);
-                        String logt = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.LOCATION_LONGITUDE);
-//                        Log.d("liyz", "cityCode = " + cityCode + " --lat = " +lat + " --logt = " + logt);
+                        mCityCode = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.LOCATION_CITY_CODE);
+                        mLat = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.LOCATION_LATITUDE);
+                        mLogt = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.LOCATION_LONGITUDE);
+//                        Log.d("liyz", "cityCode = " + mCityCode + " --lat = " +mLat + " --logt = " + mLogt);
                        //地图版本
                        String mapSDKVersion = AppUtils.getCustomMapSDKVersion(context);
                        map.put("MAP_SDK_VERSION", mapSDKVersion);
-                        if (info != null) {
-                            CallerLogger.INSTANCE.d(TAG, "nuber = " + info.getNumber_plate() + "--brand = " + info.getBrand() + "--modle = " + info.getModel());
-                            map.put("PLATE_NUMBER", info.getNumber_plate());
-                            map.put("BRAND", info.getBrand());
-                            map.put("MODEL", info.getModel());
-                            map.put("CITYCODE", cityCode);
-                            map.put("LATITUDE", lat);
-                            map.put("LONGITUTE", logt);
+                        map.put("CITYCODE", mCityCode);
+                        map.put("LATITUDE", mLat);
+                        map.put("LONGITUTE", mLogt);
+
+                        if (mInfo != null) {
+                            CallerLogger.INSTANCE.d(TAG, "nuber = " + mInfo.getNumber_plate() + "--brand = " + mInfo.getBrand() + "--modle = " + mInfo.getModel());
+                            map.put("PLATE_NUMBER", mInfo.getNumber_plate());
+                            map.put("BRAND", mInfo.getBrand());
+                            map.put("MODEL", mInfo.getModel());
                        }
                        return map;
                    }
@@ -89,6 +94,10 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
            crash.config().setDeviceId(DeviceIdUtils.getDeviceId(context));
        }
        crash.addTags(MAP_SDK_VERSION, mapSDKVersion);
+        crash.addTags("CITYCODE", mCityCode);
+        crash.addTags("LATITUDE", mLat);
+        crash.addTags("LONGITUTE", mLogt);
+
 //        crash.setReportUrl("www.xxx.com"); // 私有化部署：私有化部署才配置上报地址
 //        crash.addTags("key", "value"); // 自定义筛选tag, 按需添加、可多次覆盖

@@ -98,6 +107,15 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
        dimension.put("Devices_SN_WidevineID_MD5", sn + "__" + DeviceIdUtils.getWidevineIDWithMd5(context));
        dimension.put("Devices_SN_WidevineID", sn + "__" + DeviceIdUtils.getWidevineID(context));
        dimension.put(MAP_SDK_VERSION, mapSDKVersion);
+        dimension.put("CITYCODE", mCityCode);
+        dimension.put("LATITUDE", mLat);
+        dimension.put("LONGITUTE", mLogt);
+        if (mInfo != null) {
+            dimension.put("PLATE_NUMBER", mInfo.getNumber_plate());
+            dimension.put("BRAND", mInfo.getBrand());
+            dimension.put("MODEL", mInfo.getModel());
+        }
+
        HashMap<String, Double> metric = new HashMap<>();
        //指标值
        //metric.put("Devices_ID_metric", (double) 100);