Merge branch 'dev_robotaxi-d-app-module_280_220608_2.8.0' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_robotaxi-d-app-module_280_220608_2.8.0

2022-06-22 17:13:51 +08:00
parent c3346feb5e 2e78efc4e9
commit fa9bf16b65
51 changed files with 1483 additions and 476 deletions
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutesResult.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutesResult.java
@@ -16,12 +16,12 @@ public class BusRoutesResult {
    private int status;

    //线路轨迹相关字段
-    public String csvFileUrl; //轨迹文件下载的cos url，默认“”
-    public String csvFileMd5; //轨迹文件md5，默认“”
-    public String txtFileUrl; //打点文件下载的cos url，默认“”
-    public String txtFileMd5; //轨迹文件md5，默认“”
+    public String csvFileUrl = ""; //轨迹文件下载的cos url，默认“”
+    public String csvFileMd5 = ""; //轨迹文件md5，默认“”
+    public String txtFileUrl = ""; //打点文件下载的cos url，默认“”
+    public String txtFileMd5 = ""; //轨迹文件md5，默认“”
    public long contrailSaveTime; //上传轨迹完成时间戳ms：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
-    public String carModel; //[optional] 车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
+    public String carModel = ""; //[optional] 车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题

    public int getLineId() {
        return lineId;
@@ -48,6 +48,12 @@ public class BusRoutesResult {
                ", lineType=" + lineType +
                ", description='" + description + '\'' +
                ", status=" + status +
+                ", csvFileUrl='" + csvFileUrl + '\'' +
+                ", csvFileMd5='" + csvFileMd5 + '\'' +
+                ", txtFileUrl='" + txtFileUrl + '\'' +
+                ", txtFileMd5='" + txtFileMd5 + '\'' +
+                ", contrailSaveTime=" + contrailSaveTime +
+                ", carModel='" + carModel + '\'' +
                '}';
    }
 }
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
@@ -77,10 +77,10 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
                mPresenter.queryBusRoutes();
            });

-            mBus.setOnLongClickListener(view -> {
-                getActivity().finish();
-                return true;
-            });
+//            mBus.setOnLongClickListener(view -> {
+//                getActivity().finish();
+//                return true;
+//            });
            //debug下调用测试面板
            mCurrentStationName.setOnLongClickListener(v -> {
                debugTestBar();
@@ -288,7 +288,6 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
            // 出车的时候重制站点状态
            mPresenter.queryBusRoutes();
            tvOperationStatus.setText("收车");
-            showSlidePanle("滑动出发");
            showPanel();
        } else {
            AIAssist.getInstance(getContext()).speakTTSVoice("已收车");
--- 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
@@ -15,6 +15,7 @@ import android.text.TextUtils;
 import androidx.annotation.NonNull;

 import com.amap.api.maps.model.LatLng;
+import com.elegant.network.utils.GsonUtil;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.voice.AIAssist;
@@ -508,20 +509,27 @@ public class BusOrderModel {
 //                == CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()) {
 //            ToastUtils.showShort("自动驾驶状态为不可用！");
 //        }
-        AutopilotControlParameters currentAutopilot = new AutopilotControlParameters();
-        currentAutopilot.isSpeakVoice = !isRestart;
-        currentAutopilot.routeID = busRoutesResult.getLineId();
-        currentAutopilot.routeName = busRoutesResult.getName();
-        currentAutopilot.startName = PinYinUtil.getPinYinHeadChar(currentStation.getName());
-        currentAutopilot.endName = PinYinUtil.getPinYinHeadChar(nextStation.getName());
-        currentAutopilot.startLatLon = new AutopilotControlParameters
+        AutopilotControlParameters parameters = new AutopilotControlParameters();
+        parameters.isSpeakVoice = !isRestart;
+        parameters.routeID = busRoutesResult.getLineId();
+        parameters.routeName = busRoutesResult.getName();
+        parameters.startName = PinYinUtil.getPinYinHeadChar(currentStation.getName());
+        parameters.endName = PinYinUtil.getPinYinHeadChar(nextStation.getName());
+        parameters.startLatLon = new AutopilotControlParameters
                .AutoPilotLonLat( currentStation.getLat(), currentStation.getLon() );
-        currentAutopilot.endLatLon = new AutopilotControlParameters
+        parameters.endLatLon = new AutopilotControlParameters
                .AutoPilotLonLat( nextStation.getLat(), nextStation.getLon() );
-        currentAutopilot.vehicleType = VEHICLE_TYPE;
-        CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + currentAutopilot.toString()
+        parameters.vehicleType = VEHICLE_TYPE;
+        if (parameters.autoPilotLine == null) {
+            parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
+                    busRoutesResult.getLineId(),
+                    busRoutesResult.csvFileUrl, busRoutesResult.csvFileMd5,
+                    busRoutesResult.txtFileUrl, busRoutesResult.txtFileMd5,
+                    busRoutesResult.contrailSaveTime, busRoutesResult.carModel);
+        }
+        CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
                +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(currentAutopilot);
+        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);

        triggerStartServiceEvent(isRestart, false);

--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/bean/OrderQueryRespBean.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/bean/OrderQueryRespBean.java
@@ -51,13 +51,13 @@ public class OrderQueryRespBean extends BaseData {
        public String passengerNum;

        //线路轨迹相关字段
-        public long lineId; //路线id，默认-1
-        public String csvFileUrl; //轨迹文件下载的cos url，默认“”
-        public String csvFileMd5; //轨迹文件md5，默认“”
-        public String txtFileUrl; //打点文件下载的cos url，默认“”
-        public String txtFileMd5; //轨迹文件md5，默认“”
+        public long lineId = -1; //路线id，默认-1
+        public String csvFileUrl = ""; //轨迹文件下载的cos url，默认“”
+        public String csvFileMd5 = ""; //轨迹文件md5，默认“”
+        public String txtFileUrl = ""; //打点文件下载的cos url，默认“”
+        public String txtFileMd5 = ""; //轨迹文件md5，默认“”
        public long contrailSaveTime; //上传轨迹完成时间戳ms：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
-        public String carModel; //[optional] 车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
+        public String carModel = ""; //[optional] 车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题

        // !!!接口中暂无此字段，仅用于本地实现逻辑使用：起始站目的站距离km
        public double travelDistance;
--- 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
@@ -872,6 +872,13 @@ public class TaxiModel {
        parameters.endName = PinYinUtil.getPinYinHeadChar(mCurrentOCHOrder.endSiteAddr); // 终点名称拼音首字母大写：科学城C区三号门（KXCCQSHM）
        parameters.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(startWgsLat, startWgsLon);
        parameters.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(endWgsLat, endWgsLon);
+        if (parameters.autoPilotLine == null) {
+            parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
+                    mCurrentOCHOrder.lineId,
+                    mCurrentOCHOrder.csvFileUrl, mCurrentOCHOrder.csvFileMd5,
+                    mCurrentOCHOrder.txtFileUrl, mCurrentOCHOrder.txtFileMd5,
+                    mCurrentOCHOrder.contrailSaveTime, mCurrentOCHOrder.carModel);
+        }
        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
        CallerLogger.INSTANCE.d(M_TAXI + TAG, "start autopilot with parameter: %s", GsonUtil.jsonFromObject(parameters)
                + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr + " ,endSiteName=" + mCurrentOCHOrder.endSiteAddr);
--- a/app/src/main/java/com/mogo/launcher/stageone/APMStartup.kt
+++ b/app/src/main/java/com/mogo/launcher/stageone/APMStartup.kt
@@ -0,0 +1,29 @@
+package com.mogo.launcher.stageone
+
+import android.content.Context
+import com.rousetime.android_startup.AndroidStartup
+import com.alibaba.android.arouter.launcher.ARouter
+import com.mogo.test.crashreport.upgrade.UpgradeReportConstants
+import com.mogo.test.crashreport.CrashReportConstants
+
+class APMStartup : AndroidStartup<Boolean?>() {
+    override fun create(context: Context): Boolean? {
+        // bugly
+        ARouter.getInstance().build(UpgradeReportConstants.PATH).navigation()
+        // apm
+        ARouter.getInstance().build(CrashReportConstants.PATH).navigation()
+        return true
+    }
+
+    override fun callCreateOnMainThread(): Boolean {
+        return true
+    }
+
+    override fun waitOnMainThread(): Boolean {
+        return false
+    }
+
+    override fun dependenciesByName(): List<String> {
+        return listOf("com.mogo.launcher.stageone.ARouterStartUp")
+    }
+}
--- a/app/src/main/java/com/mogo/launcher/stageone/HttpDnsStartUp.kt
+++ b/app/src/main/java/com/mogo/launcher/stageone/HttpDnsStartUp.kt
@@ -62,7 +62,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
    override fun waitOnMainThread() = false

    override fun dependenciesByName(): List<String> {
-        return listOf("com.mogo.launcher.stageone.ARouterStartUp", "com.mogo.launcher.stageone.ConfigStartUp")
+        return listOf("com.mogo.launcher.stageone.APMStartup", "com.mogo.launcher.stageone.ConfigStartUp")
    }

    override fun create(context: Context): Boolean {
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -96,13 +96,13 @@ public class MoGoHandAdasMsgManager implements
                CallerHmiManager.INSTANCE.showTurnLight(state);
            }
        }
+
    }

    @Override
    public void onAutopilotBrakeLightData(boolean brakeLight) {
    }

-
    @Override
    public void onAutopilotCarConfig(@NotNull MessagePad.CarConfigResp carConfigResp) {
        if (carConfigResp != null && !TextUtils.isEmpty(carConfigResp.getMacAddress())) {
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeApiService.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeApiService.java
@@ -0,0 +1,27 @@
+package com.mogo.eagle.core.function.appupgrade.network;
+
+import com.mogo.eagle.core.data.bindingcar.UpgradeAppInfo;
+
+import io.reactivex.Observable;
+import okhttp3.RequestBody;
+import retrofit2.http.Body;
+import retrofit2.http.Headers;
+import retrofit2.http.POST;
+import retrofit2.http.Query;
+
+/**
+ * @author lixiaopeng
+ * @description 绑定车辆
+ * @since: 6/20/22
+ */
+public interface UpgradeApiService {
+    /**
+     * 获取升级信息
+     * , @Query("resources") String i
+     * @return {@link UpgradeAppInfo}
+     */
+    @Headers("Content-Type:application/json;charset=UTF-8")
+    @POST("unify/selectResources")
+    Observable<UpgradeAppInfo> getUpgradeInfo(@Query("resources") String res, @Body RequestBody requestBody);
+
+}
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeAppNetWorkManager.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeAppNetWorkManager.java
@@ -0,0 +1,104 @@
+package com.mogo.eagle.core.function.appupgrade.network;
+
+import android.content.Context;
+import android.util.Log;
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.constants.SharedPrefsConstants;
+import com.mogo.eagle.core.data.bindingcar.BindingcarInfo;
+import com.mogo.eagle.core.data.bindingcar.ModifyBindingcarInfo;
+import com.mogo.eagle.core.data.bindingcar.UpgradeAppInfo;
+import com.mogo.eagle.core.function.api.bindingcar.BindingcarCallBack;
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
+import com.mogo.eagle.core.network.MoGoRetrofitFactory;
+import com.mogo.eagle.core.network.utils.GsonUtil;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
+import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
+import com.mogo.eagle.core.utilcode.util.AppUtils;
+import com.mogo.eagle.core.utilcode.util.GsonUtils;
+import com.mogo.module.common.constants.HostConst;
+
+import io.reactivex.Observer;
+import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.annotations.NonNull;
+import io.reactivex.disposables.Disposable;
+import io.reactivex.schedulers.Schedulers;
+import okhttp3.MediaType;
+import okhttp3.RequestBody;
+
+/**
+ * @author lixiaopeng
+ * @description 获取升级信息
+ * @since: 3/25/22
+ */
+public class UpgradeAppNetWorkManager {
+    private static volatile UpgradeAppNetWorkManager requestNoticeManager;
+    private final UpgradeApiService mUpgradeApiService;
+    private static final String TAG = "UpgradeAppNetWorkManager";
+
+
+    private UpgradeAppNetWorkManager() {
+        mUpgradeApiService = MoGoRetrofitFactory.getInstance(HostConst.UPGRADE_APP_HOST)
+                .create(UpgradeApiService.class);
+    }
+
+    public static UpgradeAppNetWorkManager getInstance() {
+        if (requestNoticeManager == null) {
+            synchronized (UpgradeAppNetWorkManager.class) {
+                if (requestNoticeManager == null) {
+                    requestNoticeManager = new UpgradeAppNetWorkManager();
+                }
+            }
+        }
+        return requestNoticeManager;
+    }
+
+
+    /**
+     * 获取app升级信息
+     */
+    public void getAppUpgradeInfo(Context context, String screenType) {
+//        String sn = "X20202203105S688HZ";
+//        int versionCode = 2070000;
+//        String versionName = "2.7.0";
+
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        int versionCode = AppUtils.getAppVersionCode();
+        String versionName = AppUtils.getAppVersionName();
+
+        UpgradeAppRequest request = new UpgradeAppRequest(sn, versionCode, versionName, screenType);
+        RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
+        mUpgradeApiService.getUpgradeInfo("apps_control", requestBody)
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new Observer<UpgradeAppInfo>() {
+                    @Override
+                    public void onSubscribe(@NonNull Disposable d) {
+                    }
+
+                    @Override
+                    public void onNext(@NonNull UpgradeAppInfo info) {
+                        if (info != null && info.getData() != null && info.getData().size() > 0) {
+                            CallerLogger.INSTANCE.e(TAG, "UpgradeAppInfo url = " + info.getData().get(0).getApp_url() + "---info.getData().get(0).getVersion_code() = " + info.getData().get(0).getVersion_code());
+                            Log.d("liyz", "UpgradeAppInfo url = " + info.getData().get(0).getApp_url() + "----code = " + info.getData().get(0).getVersion_code());
+                            if (info.getData().get(0).getVersion_code() > versionCode) {
+                                CallerHmiManager.INSTANCE.showUpgradeDialog(info.getData().get(0).getApp_url().substring(info.getData().get(0).getApp_url().lastIndexOf("/")+1), info.getData().get(0).getApp_url());
+                            }
+                        }
+                    }
+
+                    @Override
+                    public void onError(@NonNull Throwable e) {
+                        CallerLogger.INSTANCE.e(TAG, "UpgradeAppInfo onError e = " + e.toString() + "---e.getMessage = " + e.getMessage());
+                        Log.e("liyz", "UpgradeAppInfo onError e = " + e.toString() + "---e.getMessage = " + e.getMessage());
+                    }
+
+                    @Override
+                    public void onComplete() {
+                    }
+                });
+
+    }
+
+}
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeAppRequest.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeAppRequest.java
@@ -0,0 +1,71 @@
+package com.mogo.eagle.core.function.appupgrade.network;
+
+/**
+ * @author lixiaopeng
+ * @description 获取app升级信息
+ * @since: 11/15/21
+ */
+public class UpgradeAppRequest {
+//    private String resources;
+    private String sn;
+    private int version_code;
+    private String version_name;
+    private String screen_type;
+
+    public UpgradeAppRequest(/*String resources,*/ String sn, int versionCode, String versionName, String type) {
+        this.sn = sn;
+        this.version_code = versionCode;
+        this.version_name = versionName;
+        this.screen_type = type;
+    }
+
+//    public String getResources() {
+//        return resources;
+//    }
+//
+//    public void setResources(String resources) {
+//        this.resources = resources;
+//    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public int getVersion_code() {
+        return version_code;
+    }
+
+    public void setVersion_code(int version_code) {
+        this.version_code = version_code;
+    }
+
+    public String getVersion_name() {
+        return version_name;
+    }
+
+    public void setVersion_name(String version_name) {
+        this.version_name = version_name;
+    }
+
+    public String getScreen_type() {
+        return screen_type;
+    }
+
+    public void setScreen_type(String screen_type) {
+        this.screen_type = screen_type;
+    }
+
+    @Override
+    public String toString() {
+        return "UpgradeAppRequest{" +
+                "sn='" + sn + '\'' +
+                ", version_code=" + version_code +
+                ", version_name='" + version_name + '\'' +
+                ", screen_type=" + screen_type +
+                '}';
+    }
+}
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
@@ -9,6 +9,7 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.bindingcar.BindingcarCallBack;
 import com.mogo.eagle.core.function.api.bindingcar.IMoGoBindingcarProvider;
+import com.mogo.eagle.core.function.appupgrade.network.UpgradeAppNetWorkManager;
 import com.mogo.eagle.core.function.bindingcar.network.BindingcarNetWorkManager;
 import com.mogo.eagle.core.function.ipcupgrade.IPCUpgradeManager;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
@@ -127,5 +128,12 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
        return screenType;
    }

+    /**
+     * 查询app是否需要升级
+     */
+    @Override
+    public void queryAppUpgrade() {
+        UpgradeAppNetWorkManager.getInstance().getAppUpgradeInfo(mContext, String.valueOf(getScreenType()));
+    }

 }
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/ipcupgrade/IPCUpgradeManager.kt
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/ipcupgrade/IPCUpgradeManager.kt
@@ -1,7 +1,6 @@
 package com.mogo.eagle.core.function.ipcupgrade

 import android.content.Context
-import android.util.Log
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
 import com.mogo.cloud.passport.MoGoAiCloudClient
--- a/core/function-impl/mogo-core-function-check/src/main/java/com/mogo/eagle/core/function/report/IPCReportManager.kt
+++ b/core/function-impl/mogo-core-function-check/src/main/java/com/mogo/eagle/core/function/report/IPCReportManager.kt
@@ -47,7 +47,9 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
                        it.src,it.level,it.msg,it.code,it.resultList,it.actionsList))
                //当前不处于美化模式时，展示监控节点上报
                if(!FunctionBuildConfig.isDemoMode){
-                    CallerHmiManager.showIPCReportWindow(ipcReportList)
+                    if(FunctionBuildConfig.isReportWarning){
+                        CallerHmiManager.showIPCReportWindow(ipcReportList)
+                    }
                }
            }
        }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -31,7 +31,10 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
        timeOutCheck()
    }

-    private fun isCanEnabled() = CallerAutoPilotManager.isConnected() && CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_CAN"
+    private fun isCanEnabled(): Boolean {
+        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
+        return CallerAutoPilotManager.isConnected() && code != "EHW_CAN"
+    }


    override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
@@ -24,8 +24,16 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarSt
        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
    }

-    private fun isRTKEnabled() =
-        CallerAutoPilotManager.isConnected() && (CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_RTK" && CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_GNSS") && CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo() != null
+    private fun isRTKEnabled(): Boolean {
+        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
+        val gnssInfo = CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo()
+        return CallerAutoPilotManager.isConnected() && (
+                        code != "EHW_RTK" &&
+                        code != "EHW_GNSS" &&
+                        code != "ESYS_RTK_STATUS_FAULT" &&
+                        code != "ELCT_RTK_STATUS_FAULT" &&
+                        code != "ELCT_RTK_STATUS_UNKNOWN") && gnssInfo != null
+    }

    override fun onAutopilotCarStateData(gnssInfo: GnssInfo?) {
        send(RTKStatus(isRTKEnabled()))
@@ -34,9 +42,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarSt

    override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
        super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotManager.isConnected()) {
-            send(RTKStatus(false))
-        }
+        send(RTKStatus(isRTKEnabled()))
    }

    private fun timeOutCheck() {
--- 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
@@ -46,6 +46,7 @@ import com.mogo.eagle.core.function.hmi.notification.WarningFloat
 import com.mogo.eagle.core.function.hmi.notification.anim.DefaultAnimator
 import com.mogo.eagle.core.function.hmi.ui.bindingcar.ModifyBindingCarDialog
 import com.mogo.eagle.core.function.hmi.ui.bindingcar.ToBindingCarDialog
+import com.mogo.eagle.core.function.hmi.ui.bindingcar.UpgradeAppDialog
 import com.mogo.eagle.core.function.hmi.ui.camera.CameraListView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeBannerView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeNormalBannerView
@@ -248,9 +249,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                    }
                })
                ipcReportWindow?.let {
-                    if(FunctionBuildConfig.isWarningTone){
-                        SoundUtils.playRing(requireContext())
-                    }
+                    SoundUtils.playRing(requireContext())
                }
            }
            ipcReportWindow?.showFloatWindow()
@@ -967,6 +966,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),

    private var modifyBindingCarDialog: ModifyBindingCarDialog? = null
    private var toBindingCarDialog: ToBindingCarDialog? = null
+    private var upgradeAppDialog: UpgradeAppDialog? = null

    override fun showToBindingcarDialog() {
        if (toBindingCarDialog == null) {
@@ -980,7 +980,16 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
            modifyBindingCarDialog = ModifyBindingCarDialog(requireContext())
        }
        modifyBindingCarDialog!!.showModifyBindingcarDialog()
+    }

+    /**
+     * 升级app弹框
+     */
+    override fun showUpgradeDialog(name: String, url: String) {
+        if (upgradeAppDialog == null) {
+            upgradeAppDialog = UpgradeAppDialog(requireContext())
+        }
+        upgradeAppDialog!!.showUpgradeAppDialog(name, url)
    }

    /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bindingcar/UpgradeAppDialog.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bindingcar/UpgradeAppDialog.kt
@@ -0,0 +1,77 @@
+package com.mogo.eagle.core.function.hmi.ui.bindingcar
+
+import android.content.Context
+import android.util.Log
+import android.widget.TextView
+import androidx.lifecycle.LifecycleObserver
+import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.module.common.dialog.BaseFloatDialog
+import com.mogo.service.IMogoServiceApis
+import com.mogo.service.statusmanager.IMogoStatusChangedListener
+import com.mogo.service.statusmanager.StatusDescriptor
+
+/**
+ * @brief  APP升级提示弹框
+ * @author lixiaopeng
+ */
+class UpgradeAppDialog(context: Context) : BaseFloatDialog(context), LifecycleObserver{
+
+    private val TAG = "UpgradeAppDialog"
+    private var confirmTv: TextView? = null
+    private var cancleTv: TextView? = null
+    private var tag: String? = null
+    private var downloarUrl: String? = null
+
+    private var mServiceApis: IMogoServiceApis? = null
+    private val statusChangedListenerForCheckNotice = IMogoStatusChangedListener { descriptor, isTrue ->
+        if (descriptor == StatusDescriptor.MAIN_PAGE_IS_BACKGROUND) {
+            dismiss()
+        }
+    }
+
+    init {
+        setContentView(R.layout.dialog_upgrade_app)
+        setCanceledOnTouchOutside(true)
+
+        confirmTv = findViewById(R.id.tv_upgrade_confirm)
+        cancleTv = findViewById(R.id.tv_upgrade_cancel)
+
+        confirmTv?.setOnClickListener {
+            downloadApp()
+        }
+
+        cancleTv?.setOnClickListener {
+            dismiss()
+        }
+    }
+
+    /**
+     * 去下载
+     */
+    fun downloadApp() {
+        Log.d("liyz", "UpgradeAppDialog tag = $tag ---- downloarUrl = $downloarUrl")
+        ToastUtils.showLong("开始下载APK,稍后可前往downloads文件夹查看")
+        tag?.let { downloarUrl?.let { it1 -> CallerDevaToolsManager.downLoadPackage(it, it1) } }
+
+        dismiss()
+    }
+
+    override fun dismiss() {
+        super.dismiss()
+    }
+
+    fun showUpgradeAppDialog(name: String, url: String) {
+        if (isShowing) {
+            return
+        }
+        tag = name
+        downloarUrl = url
+        show()
+    }
+
+
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -64,6 +64,8 @@ import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.map.MogoMap
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.map.uicontroller.VisualAngleMode.*
+import com.mogo.module.service.routeoverlay.*
+import com.tencent.liteav.basic.datareport.a.B
 import com.zhidao.easysocket.utils.L
 import kotlinx.android.synthetic.main.view_debug_setting.view.*
 import mogo.telematics.pad.MessagePad
@@ -779,10 +781,10 @@ class DebugSettingView @JvmOverloads constructor(
            }
        }

-        //是否开启异常上报语音提示
-        tbWarningTone.isChecked = FunctionBuildConfig.isWarningTone
-        tbWarningTone.setOnCheckedChangeListener { _, isChecked ->
-            FunctionBuildConfig.isWarningTone = isChecked
+        //是否开启异常上报
+        tbReportWarning.isChecked = FunctionBuildConfig.isReportWarning
+        tbReportWarning.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isReportWarning = isChecked
        }

    }
@@ -965,6 +967,16 @@ class DebugSettingView @JvmOverloads constructor(
            accelerationIsShow = isChecked
        }

+        tbRouteDynamicEffect.isChecked = AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)
+
+        tbRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                RouteStrategy.enable(true)
+            } else {
+                RouteStrategy.enable(false)
+            }
+        }
+
        btnThresholdDefine.setOnClickListener {
            try {
                accelerationThresholdNum = etThreshold.text.toString().toDouble()
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
@@ -74,7 +74,8 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
                        ToastUtils.showShort("超过最大限速值60，设置失败")
                    }
                    else -> {
-                        llSpeedPosition.background = resources.getDrawable(R.drawable.pilot_speed_bg)
+                        llSpeedPosition.background =
+                            resources.getDrawable(R.drawable.pilot_speed_bg)
                        keyBoardUtil?.hideKeyboard()
                        etInputSpeed.clearFocus()
                        // 设置自动驾驶速度
@@ -107,13 +108,15 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
        etInputSpeed.setOnFocusChangeListener { v, hasFocus ->
            when {
                hasFocus -> {
-                    llSpeedPosition.background = resources.getDrawable(R.drawable.pilot_speed_high_light_bg)
+                    llSpeedPosition.background =
+                        resources.getDrawable(R.drawable.pilot_speed_high_light_bg)
                    if (keyBoardUtil == null) {
                        keyBoardUtil = KeyBoardUtil(sKeyBoardView, etInputSpeed)
                    }
                    keyBoardUtil?.showKeyboard()
                }
-                else -> llSpeedPosition.background = resources.getDrawable(R.drawable.pilot_speed_bg)
+                else -> llSpeedPosition.background =
+                    resources.getDrawable(R.drawable.pilot_speed_bg)
            }
        }
        etInputSpeed.setOnTouchListener { v, event ->
@@ -150,28 +153,16 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
        this.clickListener = clickListener
    }

-    /**
-     * Bus不可设置自动驾驶速度，而Taxi可以
-     */
    private fun updateSpeedSettingViews() {
-        when {
-            AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) -> {
-                tvSpeedTitle.visibility = View.GONE
-                llSpeedPosition.visibility = View.GONE
-            }
-            else -> {
-                tvSpeedTitle.visibility = View.VISIBLE
-                llSpeedPosition.visibility = View.VISIBLE
-            }
-        }
+        tvSpeedTitle.visibility = View.VISIBLE
+        llSpeedPosition.visibility = View.VISIBLE
    }

-    fun showAdUpgradeStatus(ipcUpgradeStateInfo: IPCUpgradeStateInfo){
+    fun showAdUpgradeStatus(ipcUpgradeStateInfo: IPCUpgradeStateInfo) {
        systemVersionView?.showAdUpgradeStatus(ipcUpgradeStateInfo)
    }


-
    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
@@ -5,16 +5,19 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.bindingcar.AdUpgradeStateHelper
 import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.bindingcar.IMoGoBindingCarListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.bindingcar.CallerBindingCarListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.util.AppUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -58,7 +61,10 @@ class SystemVersionView @JvmOverloads constructor(
        //鹰眼版本视图点击事件
        ivPadVersion.setOnClickListener {
            CallerLogger.i("$M_HMI$$TAG", "pad version view clicked")
+            CallerBindingcarManager.getBindingcarProvider().queryAppUpgrade()
        }
+
+
        //工控机版本视图点击事件
        ivAdVersion.setOnClickListener {
            CallerLogger.i("$M_HMI$$TAG", "ad version view clicked")
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.java
@@ -216,7 +216,7 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
        }
        new StartupManager.Builder()
                .addStartup(new AutopilotStartup())
-                .addStartup(new APMStartup())
+//                .addStartup(new APMStartup())
                .setConfig(config)
                .build(this)
                .start()
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -6,6 +6,7 @@ import android.content.Context;
 import android.os.Process;

 import com.bytedance.boost_multidex.BoostMultiDex;
+import com.elegant.utils.UiThreadHandler;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.cloud.socket.SocketBuildConfig;
 import com.mogo.commons.AbsMogoApplication;
@@ -13,6 +14,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.constants.MoGoConfig;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.chat.biz.ChatConsts;
+import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.notice.PushUIConstants;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
@@ -51,6 +53,9 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
        initLogConfig();
        initTipToast();
        initModules();
+
+        //查询是否有版本的更新
+        queryAppUpgrade();
    }

    @Override
@@ -59,6 +64,15 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
        return ProcessUtils.isMainProcess(this);
    }

+    private void queryAppUpgrade() {
+        UiThreadHandler.postDelayed(new Runnable() {
+            @Override
+            public void run() {
+                CallerBindingcarManager.getBindingcarProvider().queryAppUpgrade();
+            }
+        },3000);
+    }
+
    /**
     * 初始化异常采集配置
     */
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/stagetwo/AutopilotStartup.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/stagetwo/AutopilotStartup.java
@@ -30,11 +30,11 @@ public class AutopilotStartup extends AndroidStartup<Boolean> {
        return false;
    }

-    @Nullable
-    @Override
-    public List<String> dependenciesByName() {
-        List<String> deps = new ArrayList<>();
-        deps.add("com.mogo.eagle.core.function.main.stagetwo.APMStartup");
-        return deps;
-    }
+//    @Nullable
+//    @Override
+//    public List<String> dependenciesByName() {
+//        List<String> deps = new ArrayList<>();
+//        deps.add("com.mogo.eagle.core.function.main.stagetwo.APMStartup");
+//        return deps;
+//    }
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/stagetwo/MapStartup.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/stagetwo/MapStartup.java
@@ -28,11 +28,11 @@ public class MapStartup extends AndroidStartup<Boolean> {
        return false;
    }

-    @Nullable
-    @Override
-    public List<String> dependenciesByName() {
-        List<String> deps = new ArrayList<>();
-        deps.add("com.mogo.eagle.core.function.main.stagetwo.APMStartup");
-        return deps;
-    }
+//    @Nullable
+//    @Override
+//    public List<String> dependenciesByName() {
+//        List<String> deps = new ArrayList<>();
+//        deps.add("com.mogo.eagle.core.function.main.stagetwo.APMStartup");
+//        return deps;
+//    }
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_upgrade_app.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_upgrade_app.xml
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="utf-8"?>
+<com.mogo.eagle.core.widget.RoundConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="840px"
+    android:layout_height="470px"
+    android:background="@color/dialog_bg_color"
+    app:roundLayoutRadius="32px">
+
+    <TextView
+        android:id="@+id/tv_upgrade_title"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="50px"
+        android:text="@string/application_upgrade"
+        android:textColor="#FFFFFFFF"
+        android:textSize="56px"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/tv_upgrade_tips"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="50px"
+        android:text="@string/application_upgrade_confirm"
+        android:textColor="#FFFFFFFF"
+        android:textSize="43px"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tv_upgrade_title" />
+
+    <View
+        android:id="@+id/view_horizontal_line"
+        android:layout_width="match_parent"
+        android:layout_height="2px"
+        android:layout_marginTop="80px"
+        android:background="#66B8BFE8"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tv_upgrade_tips" />
+
+    <View
+        android:id="@+id/view_vertical_line"
+        android:layout_width="3px"
+        android:layout_height="0dp"
+        android:background="#66B8BFE8"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/view_horizontal_line" />
+
+    <TextView
+        android:id="@+id/tv_upgrade_confirm"
+        android:layout_width="400px"
+        android:layout_height="100px"
+        android:gravity="center"
+        android:text="@string/confirm"
+        android:textColor="#FFFFFFFF"
+        android:textSize="46px"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toLeftOf="@id/view_vertical_line"
+        app:layout_constraintTop_toBottomOf="@id/view_horizontal_line" />
+
+    <TextView
+        android:id="@+id/tv_upgrade_cancel"
+        android:layout_width="400px"
+        android:layout_height="100px"
+        android:gravity="center"
+        android:text="@string/cancel"
+        android:textColor="#FFFFFFFF"
+        android:textSize="46px"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/view_vertical_line"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/view_horizontal_line" />
+
+
+</com.mogo.eagle.core.widget.RoundConstraintLayout>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -1112,13 +1112,13 @@
                        app:layout_constraintTop_toTopOf="@id/btnConnectServerIp" />

                    <ToggleButton
-                        android:id="@+id/tbWarningTone"
+                        android:id="@+id/tbReportWarning"
                        android:layout_width="match_parent"
                        android:layout_height="wrap_content"
                        android:layout_margin="@dimen/dp_10"
                        android:textColor="#000"
-                        android:textOff="开启异常上报语音提示"
-                        android:textOn="关闭异常上报语音提示"
+                        android:textOff="开启异常上报提示"
+                        android:textOn="关闭异常上报提示"
                        android:textSize="@dimen/dp_24"
                        app:layout_constraintTop_toBottomOf="@id/btnConnectServerIp"
                        />
@@ -1257,6 +1257,17 @@
                        android:textOn="关闭「加速度面板」"
                        android:textSize="@dimen/dp_24" />

+                    <ToggleButton
+                        android:id="@+id/tbRouteDynamicEffect"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_columnWeight="1"
+                        android:layout_margin="2dp"
+                        android:gravity="center"
+                        android:textOff="开启「引导线动态效果」"
+                        android:textOn="关闭「引导线动态效果」"
+                        android:textSize="@dimen/dp_24" />
+
                    <androidx.appcompat.widget.AppCompatEditText
                        android:id="@+id/etThreshold"
                        android:layout_width="wrap_content"
--- 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
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.map.identify

 import android.annotation.SuppressLint
+import androidx.collection.ArraySet
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
@@ -37,7 +38,7 @@ class IdentifyOriginDataDrawer : Identify {
    /**
     * 记录每次实际绘制的交通元素UUID
     */
-    private val trafficDataUuidList = ArrayList<String>()
+    private val trafficDataUuidList = ArraySet<String>()

    /**
     * 过滤后的数据集合
@@ -111,6 +112,8 @@ class IdentifyOriginDataDrawer : Identify {
        trafficDataUuidList.forEach(Consumer { uuid: String ->
            mMarkersCaches.remove(uuid)
            algoCache.remove(uuid)
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .removeMarker(uuid)
        })
        val filterList = filterTrafficData(resultList)
        if (filterList.size > 0) {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
@@ -5,6 +5,7 @@ import android.util.ArrayMap;
 import android.util.Log;

 import androidx.annotation.RequiresApi;
+import androidx.collection.ArraySet;

 import com.google.common.collect.BiMap;
 import com.google.common.collect.HashBiMap;
@@ -13,10 +14,10 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
 import com.mogo.map.MogoMarkerManager;

-import java.text.DecimalFormat;
 import java.util.ArrayList;
 import java.util.Iterator;
 import java.util.List;
+import java.util.Set;

 import mogo.telematics.pad.MessagePad;

@@ -30,8 +31,6 @@ public class TrackManager {
        return TrackOwner.trackManager;
    }

-    public static final DecimalFormat DF = new DecimalFormat("0.000000");
-    public static final int DISTANCE = 6371000;
    public static double LIMIT_SPEED = 0.5;

    /**
@@ -44,12 +43,12 @@ public class TrackManager {
     */
    private final BiMap<String, Long> cellIdCaches = HashBiMap.create();

-    private final ArrayMap<String, TrackObj> recentCaches = new ArrayMap<>();
+//    private final ArrayMap<String, TrackObj> recentCaches = new ArrayMap<>();

    /**
     * 记录每次实际绘制的交通元素UUID
     */
-    private final ArrayList<String> trafficDataUuidList = new ArrayList<>();
+    private final Set<String> trafficDataUuidList = new ArraySet<>();

    /**
     * 过滤后的数据集合
@@ -59,6 +58,7 @@ public class TrackManager {
    public ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
        //清空上次返回数据，做到缓存复用
        mFilterTrafficData.clear();
+        trafficDataUuidList.clear();
        //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid
        for (MessagePad.TrackedObject data : trafficData) {

@@ -75,20 +75,30 @@ public class TrackManager {
                mFilterTrafficData.add(data);
            } else {
                trackObj = new TrackObj(data);
-                // 判断是否有重合元素 google s2
+                // 融合逻辑 : 判断是否有重合元素 google s2
                if (cellIdCaches.containsValue(trackObj.getCellIdPos())) {
                    String findSameValue = cellIdCaches.inverse().get(trackObj.getCellIdPos());
-                    if (data.getUuid() - Integer.parseInt(findSameValue) > 0) {
-//                        Log.d("0609", "uuid : " + findSameValue + " 与新感知物 : " + uuid + " , 出现相同pos : " + trackObj.getCellIdPos());
-                        uuid = findSameValue;
-                        data = data.toBuilder().setUuid(Integer.parseInt(findSameValue)).build();
-                        data = trackObj.updateObj(data);
-                        mFilterTrafficData.add(data);
+                    Log.d("hy uuid : " + findSameValue, " 与新感知物 : " + uuid + "相同");
+                    //uuid处理
+                    data = data.toBuilder().setUuid(Integer.parseInt(findSameValue)).build();
+                    MessagePad.TrackedObject cache = mMarkersCaches.get(findSameValue).getCache();
+                    if (cache != null) {
+                        //相对静止物体不改变
+                        TrackObj cacheTrack = mMarkersCaches.get(findSameValue);
+                        if (cacheTrack.relativeStatic()) {
+                            data = cache;
+                            trackObj = cacheTrack;
+                        }
+                        //todo OBU相关后面通过增加字段判断数据来源进行融合，不融合衡阳验收分支功能
                    }
+                    uuid = findSameValue;
+                    data = trackObj.updateObj(data);
+                    mFilterTrafficData.add(data);
                }
            }
            cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
            mMarkersCaches.put(uuid, trackObj);
+            Log.d("hy uuid : " + uuid, " 显示物体,塞入set");
            trafficDataUuidList.add(uuid);
        }
        //todo 将上次没被删除掉物体加入集合，造成延迟删除，对运动物体不友好
@@ -121,8 +131,8 @@ public class TrackManager {
            }
        }
        trafficDataUuidList.forEach(uuid -> {
-            mMarkersCaches.remove(uuid);
-            cellIdCaches.remove(uuid);
+            Log.d("hy uuid : " + uuid, " 移除物体");
+            removeKey(uuid);
        });
        //todo bus存在时间回溯，将id重置，会有id复用问题，导致鹰眼展示元素缺少
 //        Iterator it = mMarkersCaches.keySet().iterator();
@@ -142,16 +152,20 @@ public class TrackManager {
 //        }
    }

+    public void removeKey(String key) {
+        mMarkersCaches.remove(key);
+        cellIdCaches.remove(key);
+//        recentCaches.remove(key);
+        MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .removeMarker(key);
+    }
+
    public void clearAll() {
        trafficDataUuidList.clear();
        Iterator it = mMarkersCaches.keySet().iterator();
        while (it.hasNext()) {
            String key = (String) it.next();
-            mMarkersCaches.remove(key);
-            cellIdCaches.remove(key);
-            recentCaches.remove(key);
-            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-                    .removeMarker(key);
+            removeKey(key);
        }
    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
@@ -1,14 +1,19 @@
 package com.mogo.eagle.core.function.map.identify;

-import static com.mogo.eagle.core.function.map.identify.TrackManager.DISTANCE;
 import static com.mogo.eagle.core.function.map.identify.TrackManager.LIMIT_SPEED;

+import android.annotation.SuppressLint;
+import android.util.Log;
+
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
+import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
 import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
-import com.mogo.module.service.Utils;
-import com.mogo.eagle.core.data.map.CenterLine;
+import com.mogo.map.utils.PointInterpolatorUtil;
+import com.zhidaoauto.map.sdk.open.data.MapDataApi;

+import java.util.Arrays;
 import java.util.List;

 import mogo.telematics.pad.MessagePad;
@@ -22,12 +27,12 @@ public class TrackObj {
    private long recentlyTime;  //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除
    private double roadAngle;   //道路航向
    private double headingDelta; //航向角德尔塔
+    private int[] typeArray = new int[5];
    private double typeWeight;   //类型权重
    private double lat;
    private double lon;
    private double speedAverage;
-//    private SinglePointRoadInfo singlePointRoadInfo;
-//    private double[] matchedPoint;
+    private com.zhidaoauto.map.sdk.open.road.CenterLine centerLineInfo = null;

    public TrackObj(MessagePad.TrackedObject data) {
        kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005);
@@ -58,93 +63,72 @@ public class TrackObj {
    }

    private void correct() {
-        calAverageSpeed();
+        calAverageSpeedAndType();
        calLoc();
        calHeading();
-        calType();
    }

-    private void calAverageSpeed() {
-        //计算平均速度
+    @SuppressLint("NewApi")
+    private void calAverageSpeedAndType() {
+
        if (circleQueue.size() >= 5) {
+            //计算平均速度
            List<ObjQueue> objQueueList = circleQueue.getLastFiveFrame();
            speedAverage = (objQueueList.get(0).getSpeed() + objQueueList.get(1).getSpeed() + objQueueList.get(2).getSpeed() + objQueueList.get(3).getSpeed() + objQueueList.get(4).getSpeed()) / 5;
+            //计算类型
+            typeArray[0] = objQueueList.get(0).getType();
+            typeArray[1] = objQueueList.get(1).getType();
+            typeArray[2] = objQueueList.get(2).getType();
+            typeArray[3] = objQueueList.get(3).getType();
+            typeArray[4] = objQueueList.get(4).getType();
        } else {
            double cal = 0;
            List<ObjQueue> objQueueList = circleQueue.getPreFrame();
-            for (ObjQueue obj : objQueueList) {
-                cal += obj.getSpeed();
+            for (int i = 0; i < objQueueList.size() - 1; i++) {
+                cal += objQueueList.get(i).getSpeed();
+                typeArray[i] = objQueueList.get(i).getType();
            }
            speedAverage = cal / objQueueList.size();
-//            speedAverage = circleQueue.getLastFrame().getSpeed();
        }
+        Log.d("hy uuid : " + cacheData.getUuid()," 类型 : " + Arrays.toString(typeArray));
+        typeArray = Arrays.stream(typeArray).sorted().toArray();
+        typeWeight = typeArray[typeArray.length / 2];
    }

    private void calLoc() {
        //距离计算,位置修正
-        //todo  bus250  taxi上测试下面注释掉内容
-        //double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
-//        double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(lonLat[1], lonLat[0])).distance(DISTANCE);
-//        double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude())).distance(DISTANCE);
-        //todo 重新计算速度值(如果连续几帧distance累加到一定值，速度没变化，需要重新计算速度，防止锁死)
-//        if (relativeStatic()) {
-//            double tempDis = distance;
-//            if (distance >= 4) {  //(150km/h) 41.6m/s x 0.1s = 4.16m 约等于 4
-//                tempDis = 4;
-//            }
-//            double calSpeed = cacheData.getSpeed();
-//            if (cacheData.getSpeed() != 0.0) {
-//                calSpeed = tempDis / ((Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime) / 1000.0);
-////                Log.d("calSpeed uuid : " + cacheData.getUuid(), " tempDis : " + tempDis + " , 重新赋值 calSpeed : " + DF.format(calSpeed) + " , time : " + (Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime) + " , 原速度 : " + cacheData.getSpeed());
-//                if (calSpeed > cacheData.getSpeed()) {
-//                    calSpeed = cacheData.getSpeed();
-////                    Log.d("calSpeed uuid : " + cacheData.getUuid(), "  二次重新赋值 calSpeed : " + DF.format(calSpeed));
-//                }
-////                if (calSpeed > 2) {
-////                    calSpeed = 2;
-//////                    Log.d("calSpeed uuid : " + cacheData.getUuid(), "  三次重新赋值 calSpeed : " + DF.format(calSpeed));
-////                }
-//            }
-//            cacheData = cacheData.toBuilder().setSpeed(calSpeed).build();
-//        }
-        //todo 等后序速度优化结果值可用，使用计算结果
-//        double calDistance = (cacheData.getSpeed() * (Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime)) / 1000.0;
-//        double calDistance = Utils.calculateLineDistance(lon, lat, cacheData.getLongitude(), cacheData.getLatitude());
-//        Log.d("calLoc uuid : " + cacheData.getUuid() + "  calDistance : " + DF.format(calDistance), (calDistance * 2 < distance) ? "超出范围" : "正常值");
-        //速度小于0.5m/s,并且距离在计算合理范围内超出2倍，则认为是相对静止状态(注意调整阈值)，不更新缓存点信息
-//        if (cacheData.getSpeed() < LIMIT_SPEED || relativeStatic() || calDistance * 2 < distance) {
        if (relativeStatic()) {
-//            if (singlePointRoadInfo == null) {
-//                double angle = roadAngle != 0 ? roadAngle : cacheData.getHeading();
-//                long cost = System.nanoTime();
-//                singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(lon, lat, (float) angle, true, true);
-//                Log.d("hy create cost", " " + (System.nanoTime() - cost) / 1000000);
-//            }
-//            if (singlePointRoadInfo != null && singlePointRoadInfo.getCoords() != null && !singlePointRoadInfo.getCoords().isEmpty()) {
-//                if(matchedPoint == null || matchedPoint.length == 0){
-//                    long cost = System.nanoTime();
-//                    matchedPoint = PointInterpolatorUtil.mergeToRoad(cacheData.getLongitude(), cacheData.getLatitude(), singlePointRoadInfo.getCoords());
-//                    Log.d("hy matchedPoint cost", " " + (System.nanoTime() - cost) / 1000000);
-//                    Log.d("hy uuid : " + cacheData.getUuid(), "道路经纬度 lon : " + matchedPoint[0] + " lat : " + matchedPoint[1] + " distance : " + matchedPoint[2] + " , 原数据 lon : " + lon + " lat : " + lat);
-//                }else{
-//                    if(matchedPoint[0] == 0 || matchedPoint[1] == 0){
-//                        cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
-//                    }else{
-//                        cacheData = cacheData.toBuilder().setLongitude(matchedPoint[0]).setLatitude(matchedPoint[1]).build();
-//                    }
-//                }
-//                lat = matchedPoint[1];
-//                lon = matchedPoint[0];
-//            } else {
-//                Log.d("hy uuid : " + cacheData.getUuid(), "未匹配到道路数据,使用原数据 lon : " + lon + " lat : " + lat);
-//            }
-                cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
+            double angle = roadAngle != 0 ? roadAngle : cacheData.getHeading();
+            if (centerLineInfo == null && isFourWheelType()) {
+                centerLineInfo = MapDataApi.INSTANCE.getCenterLineInfo(lon, lat, (float) angle);
+                if (centerLineInfo != null && centerLineInfo.getPoints() != null && !centerLineInfo.getPoints().isEmpty()) {
+                    double[] matchedPoint = PointInterpolatorUtil.mergeToRoad(cacheData.getLongitude(), cacheData.getLatitude(), centerLineInfo.getPoints());
+                    if (matchedPoint[0] > 0 || matchedPoint[1] > 0) {
+                        lon = matchedPoint[0];
+                        lat = matchedPoint[1];
+                        s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
+                        s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
+                        Log.d("hy uuid : " + cacheData.getUuid(), " 更新定位 lon : " + matchedPoint[0] + " , lat : " + matchedPoint[1]);
+                    } else {
+                        centerLineInfo = null;
+                        Log.d("hy uuid : " + cacheData.getUuid(), "计算结果出现问题 : " + matchedPoint[0] + " , " + matchedPoint[1]);
+                    }
+                } else {
+                    centerLineInfo = null;
+                    Log.d("hy uuid : " + cacheData.getUuid(), "未获取到道路数据");
+                }
+            }
+            Log.d("hy uuid : " + cacheData.getUuid(), " 静止使用定位数据 lon : " + lon + " , lat : " + lat);
+            cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
        } else {
+            centerLineInfo = null;
            //不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据
+            //double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
            lat = cacheData.getLatitude();
            lon = cacheData.getLongitude();
            s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
            s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
+            Log.d("hy uuid : " + cacheData.getUuid(), " 开始移动 lon : " + lon + " , lat : " + lat);
 //            cacheData = cacheData.toBuilder().setLongitude(lonLat[0]).setLatitude(lonLat[1]).build();
        }
    }
@@ -193,15 +177,11 @@ public class TrackObj {
        }
        //速度大于LIMIT_SPEED并出现大幅度转向使用缓存帧和delta数据
        if (cacheData.getSpeed() >= LIMIT_SPEED && newDelta > 10 && headingDelta != 0.0) {
-//            Log.i("0609", "uuid : " + cacheData.getUuid() + " 修正航向角 last : " + lastObj.getHeading() + " , 增益 : " + headingDelta);
+//            Log.i("hy uuid : " + cacheData.getUuid() , " 修正航向角 last : " + lastObj.getHeading() + " , 增益 : " + headingDelta);
            cacheData = cacheData.toBuilder().setHeading(lastObj.getHeading() + headingDelta).build();
        }
    }

-    private void calType() {
-
-    }
-
    public long getRecentlyTime() {
        return recentlyTime;
    }
@@ -218,6 +198,12 @@ public class TrackObj {
        return speedAverage < LIMIT_SPEED;
    }

+    public boolean isFourWheelType() {
+        return typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.getType()
+                || typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE.getType()
+                || typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.getType();
+    }
+
    @Override
    public String toString() {
        return "TrackObj{" +
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
@@ -166,13 +166,17 @@ public class SmallMapDirectionView
        if (location == null) {
            return;
        }
+        if (mCarMarker == null){
+            mCarMarker = mAMap.addMarker(new MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_my_location_logo))
+                    .anchor(0.5f, 0.5f));
+        }
+        if(mCarMarker == null){
+            return;
+        }
        LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
        //更新车辆位置
-        if (mCarMarker != null) {
-//            mCarMarker.setRotateAngle(location.getBearing());
-            mCarMarker.setPosition(currentLatLng);
-//            mCarMarker.setToTop();
-        }
+        mCarMarker.setPosition(currentLatLng);

        CameraPosition cameraPosition;
        if (mCoordinatesLatLng.size() > 1) {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -466,7 +466,6 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
                    l3.location = V2XMarkerLocation().also { l4 ->
                        l4.lat = this.roadwork?.center?.point?.lat ?: 0.0
                        l4.lon = this.roadwork?.center?.point?.lon ?: 0.0
-                        l4.angle = -1.0
                    }
                })
            }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java
@@ -48,7 +48,7 @@ public class V2XAlarmServer {
                // 因为集合是按照距离排序后的所以这里检索出来第一个就发出警告
                for (V2XRoadEventEntity v2XRoadEventEntity : v2XRoadEventEntityList) {
                    // 0、道路事件必须有朝向，角度>=0;
-                    boolean ignoreAngle = v2XRoadEventEntity.getLocation().getAngle() < 0;
+                    boolean ignoreAngle = EventTypeEnum.AI_ROAD_WORK.getPoiType().equals(v2XRoadEventEntity.getPoiType());
                    if (v2XRoadEventEntity.getLocation().getAngle() >= 0 || ignoreAngle) {
                        // 计算车辆距离指定气泡的距离
                        MarkerLocation eventLocation = v2XRoadEventEntity.getLocation();
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/AppInfo.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/AppInfo.java
@@ -0,0 +1,137 @@
+package com.mogo.eagle.core.data.bindingcar;
+
+import java.io.Serializable;
+
+/**
+ * @author lixiaopeng
+ * @description
+ * @since 6/21/22
+ */
+public class AppInfo implements Serializable {
+    private IdInfo _id;
+    private int bk_inst_id;
+    private String bk_inst_name;
+    private String bk_supplier_account;
+    private String screen_type; //1，司机屏，2乘客屏
+    private String sn;
+    private String last_time;
+    private String app_url;
+    private String bk_obj_id;
+    private int version_code;
+    private String version_name;
+    private String create_time;
+
+    public IdInfo get_id() {
+        return _id;
+    }
+
+    public void set_id(IdInfo _id) {
+        this._id = _id;
+    }
+
+    public int getBk_inst_id() {
+        return bk_inst_id;
+    }
+
+    public void setBk_inst_id(int bk_inst_id) {
+        this.bk_inst_id = bk_inst_id;
+    }
+
+    public String getBk_inst_name() {
+        return bk_inst_name;
+    }
+
+    public void setBk_inst_name(String bk_inst_name) {
+        this.bk_inst_name = bk_inst_name;
+    }
+
+    public String getBk_supplier_account() {
+        return bk_supplier_account;
+    }
+
+    public void setBk_supplier_account(String bk_supplier_account) {
+        this.bk_supplier_account = bk_supplier_account;
+    }
+
+    public String getScreen_type() {
+        return screen_type;
+    }
+
+    public void setScreen_type(String screen_type) {
+        this.screen_type = screen_type;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public String getApp_url() {
+        return app_url;
+    }
+
+    public void setApp_url(String app_url) {
+        this.app_url = app_url;
+    }
+
+    public String getBk_obj_id() {
+        return bk_obj_id;
+    }
+
+    public void setBk_obj_id(String bk_obj_id) {
+        this.bk_obj_id = bk_obj_id;
+    }
+
+    public int getVersion_code() {
+        return version_code;
+    }
+
+    public void setVersion_code(int version_code) {
+        this.version_code = version_code;
+    }
+
+    public String getVersion_name() {
+        return version_name;
+    }
+
+    public void setVersion_name(String version_name) {
+        this.version_name = version_name;
+    }
+
+    public String getLast_time() {
+        return last_time;
+    }
+
+    public void setLast_time(String last_time) {
+        this.last_time = last_time;
+    }
+
+    public String getCreate_time() {
+        return create_time;
+    }
+
+    public void setCreate_time(String create_time) {
+        this.create_time = create_time;
+    }
+
+    @Override
+    public String toString() {
+        return "AppInfo{" +
+                "_id=" + _id +
+                ", bk_inst_id='" + bk_inst_id + '\'' +
+                ", bk_inst_name='" + bk_inst_name + '\'' +
+                ", bk_supplier_account='" + bk_supplier_account + '\'' +
+                ", screen_type=" + screen_type +
+                ", sn='" + sn + '\'' +
+                ", last_time=" + last_time +
+                ", app_url='" + app_url + '\'' +
+                ", bk_obj_id='" + bk_obj_id + '\'' +
+                ", version_code=" + version_code +
+                ", version_name='" + version_name + '\'' +
+                ", create_time=" + create_time +
+                '}';
+    }
+}
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/IdInfo.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/IdInfo.java
@@ -0,0 +1,15 @@
+package com.mogo.eagle.core.data.bindingcar;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * @author lixiaopeng
+ * @description
+ * @since 6/21/22
+ */
+public class IdInfo implements Serializable {
+    private long timestamp;
+    private String date;
+
+}
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/UpgradeAppInfo.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/UpgradeAppInfo.java
@@ -0,0 +1,29 @@
+package com.mogo.eagle.core.data.bindingcar;
+
+import com.mogo.eagle.core.data.BaseData;
+
+import java.util.ArrayList;
+
+/**
+ * @author lixiaopeng
+ * @description app升级管理
+ * @since: 6/21/22
+ */
+public class UpgradeAppInfo extends BaseData {
+    public ArrayList<AppInfo> data;
+
+    public ArrayList<AppInfo> getData() {
+        return data;
+    }
+
+    public void setData(ArrayList<AppInfo> data) {
+        this.data = data;
+    }
+
+    @Override
+    public String toString() {
+        return "UpgradeAppInfo{" +
+                "data=" + data +
+                '}';
+    }
+}
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -118,10 +118,10 @@ object FunctionBuildConfig {
    var skinMode = 0

    /**
-     * 异常上报是否有语音提示
+     * 是否进行异常上报提示
     */
    @Volatile
    @JvmField
-    var isWarningTone = true
+    var isReportWarning = true

 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/bindingcar/IMoGoBindingcarProvider.java
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/bindingcar/IMoGoBindingcarProvider.java
@@ -10,7 +10,17 @@ import java.util.List;
 * @since: 3/15/22
 */
 public interface IMoGoBindingcarProvider extends IMoGoFunctionServerProvider {
+    /**
+     * 修改工控机的绑定关系
+     * @param callBack
+     */
    void modifyCarInfo(BindingcarCallBack callBack);
+
+    /**
+     * 获取车辆的信息
+     * @param macAddress
+     * @param widevineIDWithMd5
+     */
    void getBindingcarInfo(String macAddress, String widevineIDWithMd5);

    /**
@@ -27,4 +37,10 @@ public interface IMoGoBindingcarProvider extends IMoGoFunctionServerProvider {
     * @param dockerVersion 当前工控机版本
     */
    void queryContainers(String padSn,String dockerVersion);
+
+    /**
+     * 查询app是否有更新
+     */
+    void queryAppUpgrade();
+
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoWaringProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoWaringProvider.kt
@@ -205,6 +205,11 @@ interface IMoGoWaringProvider : IMoGoHmiViewProxy {
     */
    fun showModifyBindingcarDialog()

+    /**
+     * 展示升级app弹框
+     */
+    fun showUpgradeDialog(name: String, url: String)
+
    /**
     * 呈现工控机升级确认框
     */
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -167,11 +167,11 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
     */
    @Synchronized
    fun invokeAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
-//        M_AUTOPILOT_STATUS_LISTENERS.forEach {
-//            val listener = it.value
-//            autoPilotMessageCode = guardianInfo?.code ?: ""
-//            listener.onAutopilotGuardian(guardianInfo)
-//        }
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
+            val listener = it.value
+            autoPilotMessageCode = guardianInfo?.code ?: ""
+            listener.onAutopilotGuardian(guardianInfo)
+        }
    }

    /**
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
@@ -269,6 +269,10 @@ object CallerHmiManager : CallerBase() {
        waringProviderApi?.showModifyBindingcarDialog()
    }

+    fun showUpgradeDialog(name: String, url: String) {
+        waringProviderApi?.showUpgradeDialog(name, url)
+    }
+
    /**
     * 呈现工控机升级确认框
     */
--- a/gradle.properties
+++ b/gradle.properties
@@ -60,29 +60,29 @@ HOOK_LOG_VERSION=1.6.1
 SERVICE_CHAIN_VERSION=1.1.0
 ################  外部依赖引用 ################
 # loglib
-LOGLIB_VERSION=1.3.1
+LOGLIB_VERSION=1.3.2
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.3.3
+MOGO_NETWORK_VERSION=1.4.3.6
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.3.3
+MOGO_PASSPORT_VERSION=1.4.3.6
 # 常链接
-MOGO_SOCKET_VERSION=1.4.3.3
+MOGO_SOCKET_VERSION=1.4.3.6
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.3.3
+MOGO_REALTIME_VERSION=1.4.3.6
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.4.3.3
+MOGO_TANLU_VERSION=1.4.3.6
 # 直播推流
-MOGO_LIVE_VERSION=1.4.3.3
+MOGO_LIVE_VERSION=1.4.3.6
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.3.3
+MOGO_TRAFFICLIVE_VERSION=1.4.3.6
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.3.3
+MOGO_LOCATION_VERSION=1.4.3.6
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.3.3
+MOGO_TELEMATIC_VERSION=1.4.3.6
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.2.0.9
+MAP_SDK_VERSION=2.2.1.1
 MAP_SDK_OPERATION_VERSION=1.0.13
 # websocket
 WEBSOCKET_VERSION=1.1.7
@@ -155,7 +155,7 @@ MOGO_OCH_TAXI_VERSION=2.0.66
 # mogoAiCloud sdk services
 MOGO_AICLOUD_SERVICES_SDK_VERSION=2.1.16.10
 # v2x-sdk
-MOGO_V2X_SDK_VERSION=1.4.3.3
+MOGO_V2X_SDK_VERSION=1.4.3.6
 ################# 旧版本架构模块版本 #################


--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/HostConst.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/HostConst.java
@@ -22,5 +22,6 @@ public class HostConst {
    public static final String BINDING_SN_HOST = "https://mygateway.zhidaozhixing.com/cmdbapi/"; //中台提供的接口服务
    public static final String BINDING_SN_HOST_TEST = "https://mygateway.zhidaozhixing.com/cmdbapitest/"; //中台提供的接口服务测试

+    public static final String UPGRADE_APP_HOST = "http://10.0.200.12:32423?/";

 }
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/EventTypeEnum.kt
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/EventTypeEnum.kt
@@ -32,6 +32,12 @@ enum class EventTypeEnum(
            "前方施工", "道路施工"
    ),

+    //施工-AI云下发
+    AI_ROAD_WORK(
+        "100061", "道路施工", "前方施工", R.drawable.icon_warning_v2x_road_construction,
+        "前方施工", "道路施工"
+    ),
+
    //拥堵
    FOURS_BLOCK_UP(
            "10007", "道路拥堵", "前方拥堵", R.drawable.icon_warning_v2x_congestion,
@@ -368,6 +374,7 @@ enum class EventTypeEnum(
                TRAFFIC_CHECK.poiType -> TRAFFIC_CHECK.poiTypeStr
                ROAD_CLOSED.poiType -> ROAD_CLOSED.poiTypeStr
                FOURS_ROAD_WORK.poiType -> FOURS_ROAD_WORK.poiTypeStr
+                AI_ROAD_WORK.poiType -> AI_ROAD_WORK.poiTypeStr
                FOURS_BLOCK_UP.poiType -> FOURS_BLOCK_UP.poiTypeStr
                FOURS_PONDING.poiType -> FOURS_PONDING.poiTypeStr
                FOURS_FOG.poiType -> FOURS_FOG.poiTypeStr
@@ -389,6 +396,7 @@ enum class EventTypeEnum(
                TRAFFIC_CHECK.poiType -> TRAFFIC_CHECK.poiTypeStrVr
                ROAD_CLOSED.poiType -> ROAD_CLOSED.poiTypeStrVr
                FOURS_ROAD_WORK.poiType -> FOURS_ROAD_WORK.poiTypeStrVr
+                AI_ROAD_WORK.poiType -> AI_ROAD_WORK.poiTypeStrVr
                FOURS_BLOCK_UP.poiType -> FOURS_BLOCK_UP.poiTypeStrVr
                FOURS_PONDING.poiType -> FOURS_PONDING.poiTypeStrVr
                FOURS_FOG.poiType -> FOURS_FOG.poiTypeStrVr
@@ -410,6 +418,7 @@ enum class EventTypeEnum(
                TRAFFIC_CHECK.poiType -> TRAFFIC_CHECK.poiTypeSrcVr
                ROAD_CLOSED.poiType -> ROAD_CLOSED.poiTypeSrcVr
                FOURS_ROAD_WORK.poiType -> FOURS_ROAD_WORK.poiTypeSrcVr
+                AI_ROAD_WORK.poiType -> AI_ROAD_WORK.poiTypeSrcVr
                FOURS_BLOCK_UP.poiType -> FOURS_BLOCK_UP.poiTypeSrcVr
                FOURS_PONDING.poiType -> FOURS_PONDING.poiTypeSrcVr
                FOURS_FOG.poiType -> FOURS_FOG.poiTypeSrcVr
@@ -431,7 +440,7 @@ enum class EventTypeEnum(
        fun getPoiTypeBg(poiType: String, isVrMode: Boolean): Int {
            return when (poiType) {
                FOURS_BLOCK_UP.poiType, FOURS_LIVING.poiType-> if (isVrMode) R.drawable.bg_v2x_event_type_orange_vr else R.drawable.bg_v2x_event_type_orange
-                TRAFFIC_CHECK.poiType, ROAD_CLOSED.poiType, FOURS_ROAD_WORK.poiType,
+                TRAFFIC_CHECK.poiType, ROAD_CLOSED.poiType, FOURS_ROAD_WORK.poiType,AI_ROAD_WORK.poiType,
                FOURS_PONDING.poiType, FOURS_FOG.poiType, FOURS_ICE.poiType, FOURS_ACCIDENT.poiType,
                FOURS_ACCIDENT_01.poiType, FOURS_ACCIDENT_02.poiType, FOURS_ACCIDENT_03.poiType,
                FOURS_ACCIDENT_04.poiType, FOURS_ACCIDENT_05.poiType -> if (isVrMode) R.drawable.bg_v2x_event_type_red_vr else R.drawable.bg_v2x_event_type_read
@@ -447,7 +456,7 @@ enum class EventTypeEnum(
                FOURS_BLOCK_UP.poiType, FOURS_LIVING.poiType ->
                    R.drawable.bg_v2x_event_type_orange
                TRAFFIC_CHECK.poiType, ROAD_CLOSED.poiType,
-                FOURS_ROAD_WORK.poiType, FOURS_PONDING.poiType,
+                FOURS_ROAD_WORK.poiType,AI_ROAD_WORK.poiType, FOURS_PONDING.poiType,
                FOURS_FOG.poiType, FOURS_ICE.poiType,
                FOURS_ACCIDENT.poiType, FOURS_ACCIDENT_01.poiType,
                FOURS_ACCIDENT_02.poiType, FOURS_ACCIDENT_03.poiType,
@@ -464,12 +473,12 @@ enum class EventTypeEnum(
        fun isRoadEvent(poiType: String?): Boolean {
            return when (poiType) {
                TRAFFIC_CHECK.poiType, ROAD_CLOSED.poiType,
-                FOURS_ROAD_WORK.poiType, FOURS_BLOCK_UP.poiType,
+                FOURS_ROAD_WORK.poiType,AI_ROAD_WORK.poiType, FOURS_BLOCK_UP.poiType,
                FOURS_PONDING.poiType, FOURS_FOG.poiType,
                FOURS_ICE.poiType, FOURS_ACCIDENT.poiType,
                FOURS_ACCIDENT_01.poiType, FOURS_ACCIDENT_02.poiType,
                FOURS_ACCIDENT_03.poiType, FOURS_ACCIDENT_04.poiType,
-                FOURS_ACCIDENT_05.poiType, GHOST_PROBE.poiType -> true
+                FOURS_ACCIDENT_05.poiType, GHOST_PROBE.poiType, AI_ROAD_WORK.poiType -> true
                else -> false
            }
        }
@@ -480,7 +489,7 @@ enum class EventTypeEnum(
        @JvmStatic
        fun isNeedRoadEventUgc(poiType: String?): Boolean {
            return when (poiType) {
-                ROAD_CLOSED.poiType, FOURS_ROAD_WORK.poiType,
+                ROAD_CLOSED.poiType, FOURS_ROAD_WORK.poiType,AI_ROAD_WORK.poiType,
                FOURS_BLOCK_UP.poiType, FOURS_ACCIDENT.poiType,
                FOURS_ACCIDENT_01.poiType, FOURS_ACCIDENT_02.poiType,
                FOURS_ACCIDENT_03.poiType, FOURS_ACCIDENT_04.poiType,
@@ -496,6 +505,7 @@ enum class EventTypeEnum(
                TRAFFIC_CHECK.poiType -> TRAFFIC_CHECK.tts
                ROAD_CLOSED.poiType -> ROAD_CLOSED.tts
                FOURS_ROAD_WORK.poiType -> FOURS_ROAD_WORK.tts
+                AI_ROAD_WORK.poiType -> AI_ROAD_WORK.tts
                FOURS_BLOCK_UP.poiType -> FOURS_BLOCK_UP.tts
                FOURS_PONDING.poiType -> FOURS_PONDING.tts
                FOURS_FOG.poiType -> FOURS_FOG.tts
@@ -512,6 +522,7 @@ enum class EventTypeEnum(
                TRAFFIC_CHECK.poiType -> "交通检查"
                ROAD_CLOSED.poiType -> "封路"
                FOURS_ROAD_WORK.poiType -> "施工"
+                AI_ROAD_WORK.poiType -> "施工"
                FOURS_BLOCK_UP.poiType -> "道路拥堵"
                FOURS_PONDING.poiType -> "道路积水"
                FOURS_FOG.poiType -> "出现浓雾"
@@ -528,6 +539,7 @@ enum class EventTypeEnum(
                TRAFFIC_CHECK.poiType -> TRAFFIC_CHECK.content
                ROAD_CLOSED.poiType -> ROAD_CLOSED.content
                FOURS_ROAD_WORK.poiType -> FOURS_ROAD_WORK.content
+                AI_ROAD_WORK.poiType -> AI_ROAD_WORK.content
                FOURS_BLOCK_UP.poiType -> FOURS_BLOCK_UP.content
                FOURS_PONDING.poiType -> FOURS_PONDING.content
                FOURS_FOG.poiType -> FOURS_FOG.content
@@ -547,6 +559,7 @@ enum class EventTypeEnum(
                    R.drawable.mogo_image_jiaotongjiancha_small
                ROAD_CLOSED.poiType -> R.drawable.mogo_image_fenglu_small
                FOURS_ROAD_WORK.poiType -> R.drawable.mogo_image_daolushigong_small
+                AI_ROAD_WORK.poiType -> R.drawable.mogo_image_daolushigong_small
                FOURS_BLOCK_UP.poiType -> R.drawable.mogo_image_yongdu_small
                FOURS_PONDING.poiType -> R.drawable.mogo_image_jishui_small
                FOURS_ICE.poiType -> R.drawable.mogo_image_jiebing_small
@@ -564,6 +577,7 @@ enum class EventTypeEnum(
                TRAFFIC_CHECK.poiType -> R.drawable.mogo_image_jiaotongjiancha_nor
                ROAD_CLOSED.poiType -> R.drawable.mogo_image_fenglu_nor
                FOURS_ROAD_WORK.poiType -> R.drawable.mogo_image_daolushigong_nor
+                AI_ROAD_WORK.poiType -> R.drawable.mogo_image_daolushigong_nor
                FOURS_BLOCK_UP.poiType -> R.drawable.mogo_image_yongdu_nor
                FOURS_PONDING.poiType -> R.drawable.mogo_image_jishui_nor
                FOURS_ICE.poiType -> R.drawable.mogo_image_jiebing_nor
@@ -586,6 +600,7 @@ enum class EventTypeEnum(
                FOURS_ACCIDENT_03.poiType, FOURS_ACCIDENT_04.poiType, FOURS_ACCIDENT_05.poiType -> "交通事故"
                FOURS_BLOCK_UP.poiType -> "拥堵"
                FOURS_ROAD_WORK.poiType -> "施工"
+                AI_ROAD_WORK.poiType -> "施工"
                FOURS_PONDING.poiType -> "道路积水"
                else -> "实时路况"
            }
@@ -600,6 +615,7 @@ enum class EventTypeEnum(
                FOURS_FOG.poiType -> R.raw.v2x_nongwu
                TRAFFIC_CHECK.poiType -> R.raw.v2x_jiaotongjiancha
                FOURS_ROAD_WORK.poiType -> R.raw.v2x_daolushigong
+                AI_ROAD_WORK.poiType -> R.raw.v2x_daolushigong
                FOURS_ICE.poiType -> R.raw.v2x_daolujiebing
                FOURS_PONDING.poiType -> R.raw.v2x_daolujishui
                GHOST_PROBE.poiType -> R.raw.v2x_guzhangqiuzhu
@@ -618,6 +634,7 @@ enum class EventTypeEnum(
                FOURS_ACCIDENT_03.poiType, FOURS_ACCIDENT_04.poiType, FOURS_ACCIDENT_05.poiType -> "交通事故"
                FOURS_BLOCK_UP.poiType -> "拥堵"
                FOURS_ROAD_WORK.poiType -> "施工"
+                AI_ROAD_WORK.poiType -> "施工"
                FOURS_PONDING.poiType -> "道路积水"
                else -> "实时路况"
            }
@@ -638,6 +655,10 @@ enum class EventTypeEnum(
                FOURS_ROAD_WORK.poiType -> {
                    R.drawable.v_to_x_marker_11
                }
+                //AI施工
+                AI_ROAD_WORK.poiType -> {
+                    R.drawable.v_to_x_marker_11
+                }
                //拥堵
                FOURS_BLOCK_UP.poiType -> {
                    R.drawable.v_to_x_marker_5
@@ -760,6 +781,7 @@ enum class EventTypeEnum(
                TYPE_USECASE_ID_ROAD_GIVE_WAY.poiType -> TYPE_USECASE_ID_ROAD_GIVE_WAY.content
                TYPE_VIP_IDENTIFICATION.poiType -> TYPE_VIP_IDENTIFICATION.content
                FOURS_ROAD_WORK.poiType -> FOURS_ROAD_WORK.content
+                AI_ROAD_WORK.poiType -> AI_ROAD_WORK.content
                TYPE_ERROR.poiType -> TYPE_ERROR.content
                TYPE_OPTIMAL_ROUTE_RECOMMEND.poiType -> TYPE_OPTIMAL_ROUTE_RECOMMEND.content
                GHOST_PROBE.poiType -> GHOST_PROBE.content
@@ -802,6 +824,7 @@ enum class EventTypeEnum(
                TYPE_USECASE_ID_ROAD_GIVE_WAY.poiType -> TYPE_USECASE_ID_ROAD_GIVE_WAY.tts
                TYPE_VIP_IDENTIFICATION.poiType -> TYPE_VIP_IDENTIFICATION.tts
                FOURS_ROAD_WORK.poiType -> FOURS_ROAD_WORK.tts
+                AI_ROAD_WORK.poiType -> AI_ROAD_WORK.tts
                TYPE_ERROR.poiType -> TYPE_ERROR.tts
                TYPE_OPTIMAL_ROUTE_RECOMMEND.poiType -> TYPE_OPTIMAL_ROUTE_RECOMMEND.tts
                GHOST_PROBE.poiType -> GHOST_PROBE.tts
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/CloudPoiManager.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/CloudPoiManager.java
@@ -44,6 +44,8 @@ public class CloudPoiManager {
                    R.drawable.module_common_icon_map_marker_road_block_off2, R.drawable.module_common_icon_map_marker_road_block_off2_white, "封路"));
            poiWrapper.put(EventTypeEnum.FOURS_ROAD_WORK.getPoiType(), new PoiWrapper(EventTypeEnum.FOURS_ROAD_WORK.getPoiType(),
                    R.drawable.module_common_icon_map_marker_road_work2, R.drawable.module_common_icon_map_marker_road_work2_white, "施工"));
+            poiWrapper.put(EventTypeEnum.AI_ROAD_WORK.getPoiType(), new PoiWrapper(EventTypeEnum.AI_ROAD_WORK.getPoiType(),
+                    R.drawable.module_common_icon_map_marker_road_work2, R.drawable.module_common_icon_map_marker_road_work2_white, "施工"));
            poiWrapper.put(EventTypeEnum.FOURS_BLOCK_UP.getPoiType(), new PoiWrapper(EventTypeEnum.FOURS_BLOCK_UP.getPoiType(),
                    R.drawable.module_common_icon_map_marker_road_block_up2, R.drawable.module_common_icon_map_marker_road_block_up2_white, "拥堵"));
            poiWrapper.put(EventTypeEnum.FOURS_PONDING.getPoiType(), new PoiWrapper(EventTypeEnum.FOURS_PONDING.getPoiType(),
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServiceProvider.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServiceProvider.java
@@ -66,7 +66,7 @@ public class MogoServiceProvider implements IMogoModuleProvider {
        MarkerServiceHandler.init( context );
        MogoServices.getInstance().preInit( context );
        MogoServices.getInstance().init( AbsMogoApplication.getApp() );
-        MogoRouteOverlayManager.getInstance(context).init();
+        MogoRouteOverlayManager.getInstance().init();
    }

    @Override
--- 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
@@ -1,29 +1,25 @@
 package com.mogo.module.service.routeoverlay;

-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_OLD_ROUTE;
-
-import android.content.Context;
 import android.os.SystemClock;
+import android.util.Log;
+
 import androidx.annotation.NonNull;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.deva.scene.SceneModule;
 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.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant;
-
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 import java.util.List;
-import java.util.Map;
 import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
+
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;

@@ -31,107 +27,57 @@ public class MogoRouteOverlayManager implements
        IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener,
        IMoGoMapLocationListener {
    private static volatile MogoRouteOverlayManager sInstance;
-    private Context mContext;
-    private String TAG = "route";
+    private static final String TAG = "Route";
    private int STATUS_AUTOPILOT = 0;//0 非自动驾驶 ; 1 自动驾驶
-   // private MogoLatLng mEnding;
    private MogoLocation mLocation;
-    private AtomicBoolean isArriveAtStation = new AtomicBoolean(false);
+    private final AtomicBoolean isArriveAtStation = new AtomicBoolean(false);

-    private volatile List<MessagePad.TrajectoryPoint> mTrajectoryList = null;
+    private List<MessagePad.TrajectoryPoint> mTrajectoryList = null;

-    private MogoRouteOverlayManager(Context context) {
-        mContext = context;
-    }
+    private final Lock mLock = new ReentrantLock();
+
+    private MogoRouteOverlayManager() {}


    public void init() {
        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
-//        intiDrawer();
    }

-    public static MogoRouteOverlayManager getInstance(Context context) {
+    public static MogoRouteOverlayManager getInstance() {
        if (sInstance == null) {
            synchronized (MogoRouteOverlayManager.class) {
                if (sInstance == null) {
-                    sInstance = new MogoRouteOverlayManager(context);
+                    sInstance = new MogoRouteOverlayManager();
                }
            }
        }
        return sInstance;
    }

-    private StringBuilder trajectoryMsg = null;
-
    @Override
    public void onAutopilotTrajectory(@NonNull List<MessagePad.TrajectoryPoint> items) {
-        long start = SystemClock.elapsedRealtime();
+        if (isArriveAtStation.get()) {
+            return;
+        }
+        if (items.isEmpty()) {
+            return;
+        }
+        MogoLocation location = mLocation;
+        if (location == null) {
+            return;
+        }
        try {
-            if (isArriveAtStation.get()) {
-                return;
-            }
-            if (items.size() == 0) {
-                return;
-            }
-            MogoLocation location = mLocation;
-            if (location == null) {
-                return;
-            }
+            mLock.lock();
            mTrajectoryList = items;
-            Map<String, SceneModule> tags = CallerDevaToolsManager.INSTANCE.getModuleTAG();
-            boolean isPrintLog = false;
-            if (tags != null && tags.containsKey(SceneConstant.M_OLD_ROUTE)) {
-                SceneModule scene = tags.get(M_OLD_ROUTE);
-                isPrintLog = scene.getLog();
-            }
-            if (isPrintLog) {
-                if (trajectoryMsg == null) {
-                    trajectoryMsg = new StringBuilder(128);
-                }
-                if (trajectoryMsg.length() > 0) {
-                    trajectoryMsg.setLength(0);
-                }
-                trajectoryMsg.append("{");
-                trajectoryMsg.append(System.currentTimeMillis()).append(";");
-                trajectoryMsg.append(location.getLongitude()).append(";");
-                trajectoryMsg.append(location.getLatitude()).append(";");
-                trajectoryMsg.append(location.getAltitude()).append(";");
-                trajectoryMsg.append(location.getBearing()).append(";");
-                trajectoryMsg.append(location.getSpeed()).append(";");
-                for (int i = 0; i < items.size(); i++) {
-                    // 临时解决车尾拖线问题，丢弃距离车最近的几个经纬度，原因是惯性导航的中心靠近车尾，会导致经纬度靠近尾部，且两个数据不同频
-                    MessagePad.TrajectoryPoint a = items.get(i);
-                    double lon = a.getLongitude();
-                    double lat = a.getLatitude();
-                    trajectoryMsg.append(lon).append(",");
-                    trajectoryMsg.append(lat).append(",");
-                }
-                trajectoryMsg.append("}");
-                CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "receive router data:" + items.size());
-                CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, trajectoryMsg.toString());
-            } else  {
-                CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "receive router data:" + items.size());
-            }
        } finally {
-            CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "--- onAutopilotTrajectory -- cost:" + (SystemClock.elapsedRealtime() - start) + " ms");
+            mLock.unlock();
        }
    }

    @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()));
-//        }
-//        int listSize = latLngList.size();
-//        mEnding = latLngList.get(listSize - 1);
-//        RouteOverlayDrawer.getInstance(mContext).addEndingMarker(latLngList.get(listSize - 1).lat,latLngList.get(listSize - 1).lon);
-    }
+    public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {}


    @Override
@@ -144,34 +90,20 @@ public class MogoRouteOverlayManager implements
        if (this.STATUS_AUTOPILOT == 1) {
            isArriveAtStation.set(false);
        }
-        //CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG ,"onAutopilotStatusResponse:"+STATUS_AUTOPILOT);
-//        if (STATUS_AUTOPILOT == 1 ){
-//            if (mEnding != null){
-//                RouteOverlayDrawer.getInstance(mContext).addEndingMarker(mEnding.lat,mEnding.lon);
-//            }
-//        }else {
-//
-//        }
        if (STATUS_AUTOPILOT != 1) {
-            RouteOverlayDrawer.getInstance(mContext).clearEndingMarker();
-            RouteOverlayDrawer.getInstance(mContext).clearMogoRouteOverlay();
+            RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
        }
    }

    @Override
    public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {
-
        if (arrivalNotification == null) {
            return;
        }
-        CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "onArriveAt data : " + arrivalNotification);
-//        //演示模式下 到达终点将忽略 引导线绘制 选项关闭
-//        FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
-
+        Log.d(TAG, "onArriveAt data : " + arrivalNotification);
        if (!isArriveAtStation.get()) {
            isArriveAtStation.set(true);
-            RouteOverlayDrawer.getInstance(mContext).clearEndingMarker();
-            RouteOverlayDrawer.getInstance(mContext).clearMogoRouteOverlay();
+            RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
        }
    }

@@ -186,7 +118,6 @@ public class MogoRouteOverlayManager implements
        if (from != 1) {
            return;
        }
-        long start = SystemClock.elapsedRealtime();
        boolean isExcept = false;
        try {
            if (location == null) {
@@ -194,14 +125,13 @@ public class MogoRouteOverlayManager implements
                return;
            }
            if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1) {
-                RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(location, mTrajectoryList);
+                RouteOverlayDrawer.getInstance().drawTrajectoryList(mLock, location, mTrajectoryList);
            }
        } finally {
            mLocation = location;
            if (isExcept) {
-                RouteOverlayDrawer.getInstance(mContext).setVisible(false);
+                RouteOverlayDrawer.getInstance().hide();
            }
-//            CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "--- onLocationChanged -- cost:" + (SystemClock.elapsedRealtime() - start) + " ms");
        }
    }

--- 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
@@ -1,70 +1,42 @@
 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.content.Context;
-import android.graphics.Bitmap;
-import android.graphics.BitmapFactory;
-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.data.map.MogoLocation;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.utilcode.util.ColorUtils;
-import com.mogo.map.MogoMarkerManager;
 import com.mogo.map.MogoOverlayManager;
-import com.mogo.map.marker.IMogoMarker;
-import com.mogo.map.marker.MogoMarkerOptions;
 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 com.mogo.module.service.R;
 import java.util.ArrayList;
 import java.util.LinkedList;
 import java.util.List;
+import java.util.concurrent.locks.Lock;
 import mogo.telematics.pad.MessagePad;

 public class RouteOverlayDrawer {

    private static final String TAG = "MogoRouteOverlayManager";

-    private volatile IMogoPolyline mMoGoPolyline;
    // 连接线参数
-    private final MogoPolylineOptions mPolylineOptions;

    private Handler mRenderHandler;

-    private final Bitmap endingBitmap;
-    private final Context mContext;
+//    private Handler mLogHandler;
+
    IMogoOverlayManager mogoOverlayManager;
-    private IMogoMarker endMarker;
-    private MogoMarkerOptions markerOptions;
    private static volatile RouteOverlayDrawer sInstance;
-    private static final String markerType = "route_ending";

-    private RouteOverlayDrawer(Context context) {
-        mPolylineOptions = new MogoPolylineOptions();
-        mPolylineOptions.zIndex(75000f);
-        mPolylineOptions.setGps(true);
-        // 引导线颜色,
+    private RouteOverlayDrawer() {
        // 渐变色
-        mContext = context;
        mogoOverlayManager = MogoOverlayManager.getInstance();
-        endingBitmap = BitmapFactory.decodeResource(context.getResources(),
-                R.drawable.icon_route_ending);
-
-        List<Integer> list = new ArrayList<>();
-        int[] startColor = ColorUtils.hexToArgb("#CC64C3EA");
-        int[] endColor = ColorUtils.hexToArgb("#0064C3EA");
-        list.add(Color.argb(startColor[0], startColor[1], startColor[2], startColor[3]));
-        list.add(Color.argb(endColor[0], endColor[1], endColor[2], endColor[3]));
        // 线条粗细，渐变，渐变色值
-        mPolylineOptions.width(20).useGradient(true).colorValues(list);
        HandlerThread renderTask = new HandlerThread("routing_render") {
            @Override
            protected void onLooperPrepared() {
@@ -73,153 +45,307 @@ public class RouteOverlayDrawer {
            }
        };
        renderTask.start();
+
+//        HandlerThread logHandler = new HandlerThread("log_handler") {
+//            @Override
+//            protected void onLooperPrepared() {
+//                super.onLooperPrepared();
+//                mLogHandler = new Handler(getLooper());
+//            }
+//        };
+//        logHandler.start();
    }

-    public static RouteOverlayDrawer getInstance(Context context) {
+    public static RouteOverlayDrawer getInstance() {
        if (sInstance == null) {
            synchronized (RouteOverlayDrawer.class) {
                if (sInstance == null) {
-                    sInstance = new RouteOverlayDrawer(context);
+                    sInstance = new RouteOverlayDrawer();
                }
            }
        }
        return sInstance;
    }

-    public synchronized void release() {
-        sInstance = null;
-    }
-
-    private Object readResolve() {
-        // 阻止反序列化，必须实现 Serializable 接口
-        return sInstance;
-    }
-
-    public void addEndingMarker(double lat, double lon) {
-        if (endMarker != null) {
-            return;
-        }
-        if (markerOptions == null) {
-            markerOptions = new MogoMarkerOptions()
-                    .matchOnRoadSide(true)
-                    .gps(true)
-                    .icon(endingBitmap)
-                    .owner(markerType)
-                    .anchor(0.5f, 0.5f)
-                    .scale(0.5f)
-                    .zIndex(30001);
-//                .object(markerShowEntity)
-        }
-        markerOptions.latitude(lat).longitude(lon);
-        //CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG,"addEndingMarker-"+lat+":"+lon);
-        endMarker = MogoMarkerManager.getInstance(mContext).addMarker(markerType, markerOptions);
-//        if (DebugConfig.isDebug()){
-//            ToastUtils.showLong("绘制终点marker,"+lat+":"+lon);
-//        }
-    }
-
    public void clearMogoRouteOverlay() {
-        if (mMoGoPolyline != null) {
-            mMoGoPolyline.remove();
-            mMoGoPolyline = null;
-        }
-
-        if (mRenderTask != null) {
+        if (mRenderTask != null && mRenderHandler != null) {
+            mRenderTask.remove();
            mRenderHandler.removeCallbacks(mRenderTask);
        }
    }

-    public void clearEndingMarker() {
-        //CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG,"clearEndingMarker");
-        endMarker = null;
-        MogoMarkerManager.getInstance(mContext).removeMarkers(markerType);
+    public void remove() {
+        if (mRenderTask != null && mRenderHandler != null) {
+            mRenderTask.remove();
+            mRenderHandler.removeCallbacks(mRenderTask);
+        }
+    }
+
+    public void hide() {
+        if (mRenderTask != null && mRenderHandler != null) {
+            mRenderTask.hide();
+            mRenderHandler.removeCallbacks(mRenderTask);
+        }
+    }
+
+    private static class RenderOptions {
+
+        private IMogoPolyline mPolyLine;
+        private final MogoPolylineOptions mOptions;
+
+        private static int taskSequence = 0;
+
+        //private Handler mHandler;
+
+        private final IMogoOverlayManager mOverlayManager;
+
+        //private ChildRenderTask mTask;
+
+        private class ChildRenderTask implements Runnable {
+
+            private List<Integer> colors;
+            private List<MogoLatLng> points;
+
+            public void setData(List<Integer> colors, List<MogoLatLng> points)  {
+                this.colors = colors;
+                this.points = points;
+            }
+
+            @Override
+            public void run() {
+                if (this.colors == null || this.colors.isEmpty()) {
+                    return;
+                }
+
+                if (this.points == null || this.points.isEmpty()) {
+                    return;
+                }
+                mOptions.colorValues(colors);
+                mOptions.points(points);
+                if (mPolyLine == null || mPolyLine.isDestroyed()) {
+                    mPolyLine = mOverlayManager.addPolyline(mOptions);
+                } else {
+                    mPolyLine.setOption(mOptions);
+                }
+                if (mPolyLine != null && !mPolyLine.isVisible()) {
+                    mPolyLine.setVisible(true);
+                }
+            }
+        }
+
+        public RenderOptions(IMogoOverlayManager overlay) {
+            mOverlayManager = overlay;
+            mOptions = new MogoPolylineOptions().width(20).useGradient(true).zIndex(75000f).setGps(true);
+//            new HandlerThread("child-render-" +(taskSequence++)) {
+//                @Override
+//                protected void onLooperPrepared() {
+//                    super.onLooperPrepared();
+//                    mHandler = new Handler(getLooper());
+//                }
+//            }.start();
+        }
+
+        public void show(List<Integer> colors, List<MogoLatLng> points) {
+//            if (mTask == null) {
+//                mTask = new ChildRenderTask();
+//            }
+//            mTask.setData(colors, points);
+//            if (mHandler != null) {
+//                mHandler.removeCallbacks(mTask);
+//                mHandler.post(mTask);
+//            }
+            mOptions.colorValues(colors);
+            mOptions.points(points);
+            if (mPolyLine == null || mPolyLine.isDestroyed()) {
+                mPolyLine = mOverlayManager.addPolyline(mOptions);
+            } else {
+                mPolyLine.setOption(mOptions);
+            }
+            if (mPolyLine != null && !mPolyLine.isVisible()) {
+                mPolyLine.setVisible(true);
+            }
+        }
+
+        public void hide() {
+//            if (mTask != null && mHandler != null) {
+//                mHandler.removeCallbacks(mTask);
+//            }
+            if (mPolyLine != null && mPolyLine.isVisible()) {
+                mPolyLine.setVisible(false);
+            }
+        }
+
+        public void remove() {
+//            if (mTask != null && mHandler != null) {
+//                mHandler.removeCallbacks(mTask);
+//            }
+            if (mPolyLine != null && !mPolyLine.isDestroyed()) {
+                mPolyLine.remove();
+                mPolyLine = null;
+            }
+        }
    }

    private class RenderTask implements Runnable {
-        private volatile List<MessagePad.TrajectoryPoint> routeList;
-        private volatile MogoLocation location;
+        private List<MessagePad.TrajectoryPoint> routeList;
+        private MogoLocation location;

        private final Pools.Pool<MogoLatLng> pools;
        private final LinkedList<MogoLatLng> points;

+        private final Pools.Pool<RenderOptions> options;
+        private Lock mLock;
+
        public RenderTask() {
            this.pools = new Pools.SimplePool<>(500);
            this.points = new LinkedList<>();
+            this.options = new Pools.SimplePool<>(5);
        }

-        public void setData(MogoLocation location, List<MessagePad.TrajectoryPoint> routeList) {
+        public void setData(Lock lock, MogoLocation location, List<MessagePad.TrajectoryPoint> routeList) {
            this.location = location;
            this.routeList = routeList;
+            this.mLock = lock;
        }

        @SuppressLint("LongLogTag")
        @Override
        public void run() {
-            LinkedList<MogoLatLng> points = this.points;
-            points.clear();
+            Lock lock = this.mLock;
+            if (lock == null) {
+                return;
+            }
+            LinkedList<MogoLatLng> pps = this.points;
            boolean isExcept = false;
+//            StringBuilder sb;
+            int total;
            try {
+                pps.clear();
                long drawStart = SystemClock.elapsedRealtime();
-                List<MessagePad.TrajectoryPoint> routes = this.routeList;
-                int total;
-                if (routes == null || (total = routes.size()) < 2) {
-                    isExcept = true;
-                    return;
-                }
-                for (int i = 0; i < total; i++) {
-                    MessagePad.TrajectoryPoint route = null;
-                    try {
-                        route = routes.get(i);
-                        if (route == null) {
-                            continue;
+                try {
+                    lock.lock();
+                    List<MessagePad.TrajectoryPoint> routes = this.routeList;
+                    if (routes == null || (total = routes.size()) < 2) {
+                        isExcept = true;
+                        return;
+                    }
+                    RouteStrategy.INSTANCE.start();
+//                    sb = new StringBuilder();
+//                    sb.append(System.currentTimeMillis()).append(" ");
+                    for (int i = 0; i < total; i++) {
+                        MessagePad.TrajectoryPoint route = null;
+                        try {
+                            route = routes.get(i);
+                            if (route == null) {
+                                continue;
+                            }
+                        } catch (Throwable t) {
+                            Log.d("Route", "render-error:" + t.getMessage());
                        }
-                    } catch (Throwable t) {
-                        CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "render-error:" + t.getMessage());
+                        if (route == null) {
+                            //数组越界了，结束循环
+                            break;
+                        }
+
+//                        sb.append(route.getVelocity()).append(" ");
+//                        sb.append(route.getAcceleration()).append(" ");
+//                        sb.append(route.getAccumulatedDis()).append(" ");
+                        MogoLatLng acquire = pools.acquire();
+                        double latitude = route.getLatitude();
+                        double longitude = route.getLongitude();
+                        if (acquire == null) {
+                            acquire = new MogoLatLng(latitude, longitude);
+                        } else  {
+                            acquire.lon = longitude;
+                            acquire.lat = latitude;
+                        }
+                        pps.add(acquire);
+                        RouteStrategy.INSTANCE.check(route.getVelocity(), route.getAcceleration());
                    }
-                    if (route == null) {
-                        //数组越界了，结束循环
-                        break;
+                    RouteStrategy.INSTANCE.end();
+                } finally {
+                    lock.unlock();
+                }
+                Strategy strategy = RouteStrategy.INSTANCE.getStrategy();
+              ///  Log.d("ROUTE_XX", "strategy:" + strategy + "->route: " +sb);
+
+//                StringBuilder newSb = new StringBuilder("strategy:" + strategy + "->route: ");
+//                newSb.append(sb);
+//                if (mLogHandler != null) {
+//                    mLogHandler.sendMessage(Message.obtain(mLogHandler, () -> {
+//                        BufferedWriter bw = null;
+//                        try {
+//                            File file = new File(Environment.getExternalStorageDirectory(),  "log.txt");
+//                            if (!file.exists()) {
+//                                file.createNewFile();
+//                            }
+//                            bw = new BufferedWriter(new FileWriter(file,  true));
+//                            bw.write(newSb.toString());
+//                            bw.newLine();
+//                            bw.flush();
+//                        } catch (Throwable t) {
+//                            try {
+//                                if (bw != null) {
+//                                    bw.close();
+//                                }
+//                            } catch (Throwable t2) {
+//
+//                            }
+//                        }
+//                    }));
+//                }
+                Integer[] indexes = strategy.getIndexes();
+                Integer[] colors = strategy.getColors();
+                LinkedList<LinkedList<MogoLatLng>> parts = new LinkedList<>();
+                if (indexes.length > 0) {
+                    for (int i = 0; i < indexes.length; i += 2) {
+                        int startIndex = indexes[i];
+                        int endIndex = indexes[i + 1];
+                        parts.add(new LinkedList<>(pps.subList(startIndex, Math.min(endIndex + 1, pps.size()))));
                    }
-                    MogoLatLng acquire = pools.acquire();
-                    double latitude = route.getLatitude();
-                    double longitude = route.getLongitude();
-                    if (acquire == null) {
-                        acquire = new MogoLatLng(latitude, longitude);
-                    } else  {
-                        acquire.lon = longitude;
-                        acquire.lat = latitude;
-                    }
-                    points.add(acquire);
                }
                double lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
                double lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
                int removeCount = 0;
-                if (points.size() > 0) {
-                    MogoLatLng top = null;
-                    while (points.size() != 0) {
-                        MogoLatLng first = points.peek();
-                        if (first == null) {
+                int colorsIndex = 0;
+                if (!parts.isEmpty()) {
+                    L:while (!parts.isEmpty()) {
+                        LinkedList<MogoLatLng> part = parts.peek();
+                        if (part == null) {
                            continue;
                        }
-                        if (first == top) {
-                            break;
+                        MogoLatLng top = null;
+                        while (!part.isEmpty()) {
+                            MogoLatLng first = part.peek();
+                            if (first == null) {
+                                part.poll();
+                                continue;
+                            }
+                            if (first == top) {
+                                break L;
+                            }
+                            lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
+                            lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
+                            long angle = isPointOnCarFront(lon, lat, location.getBearing(), first.lon, first.lat);
+                            if (angle >= 90) {
+                                removeCount++;
+                                pps.remove(first);
+                                try {
+                                    pools.release(first);
+                                } catch (Throwable ignore) {
+                                } finally {
+                                    part.poll();
+                                }
+                            }
+                            top = first;
                        }
-                        lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
-                        lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
-                        long angle = isPointOnCarFront(lon, lat, location.getBearing(), first.lon, first.lat);
-                        if (angle >= 90) {
-                            removeCount++;
-                            pools.release(first);
-                            points.poll();
-                        }
-                        top = first;
+                        parts.poll();
+                        colorsIndex += 2;
                    }
-
-                    if (points.size() == 0) {
+                    if (parts.isEmpty()) {
                        isExcept = true;
                        return;
                    }
-
                    MogoLatLng self = pools.acquire();
                    if (self == null) {
                        self = new MogoLatLng(lat, lon);
@@ -227,70 +353,102 @@ public class RouteOverlayDrawer {
                        self.lat = lat;
                        self.lon = lon;
                    }
-                    points.addFirst(self);
-                    if (mMoGoPolyline == null || mMoGoPolyline.isDestroyed()) {
-                        mPolylineOptions.points(points);
-                        mMoGoPolyline = mogoOverlayManager.addPolyline(mPolylineOptions);
-                    } else {
-                        mPolylineOptions.points(points);
-                        mMoGoPolyline.setOption(mPolylineOptions);
+                    pps.addFirst(self);
+                    parts.get(0).addFirst(self);
+                    List<RenderOptions> ll = new ArrayList<>();
+                    for (int i = 0; i < parts.size(); i++) {
+                        LinkedList<MogoLatLng> ps = parts.get(i);
+                        RenderOptions options = this.options.acquire();
+                        if (options == null) {
+                            options = new RenderOptions(mogoOverlayManager);
+                        }
+                        ll.add(options);
+                        List<Integer> cls = new ArrayList<>();
+                        cls.add(colors[colorsIndex++]);
+                        cls.add(colors[colorsIndex++]);
+                        options.show(cls, ps);
                    }
-                    if (mMoGoPolyline != null && !mMoGoPolyline.isDestroyed() && !mMoGoPolyline.isVisible()) {
-                        mMoGoPolyline.setVisible(true);
+                    hide();
+                    for (int i = ll.size() - 1; i >= 0 ; i--) {
+                        this.options.release(ll.get(i));
                    }
                } else {
                    isExcept = true;
                }
                long drawEnd = SystemClock.elapsedRealtime();
-                CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "drawTrajectoryList cost : " + (drawEnd - drawStart) + "ms and isExcept:" + isExcept + "::removeCount:" + removeCount + "::total:" + total);
+                Log.d("Route", "draw cost:" + (drawEnd - drawStart) + "ms and isExcept:" + isExcept + "::removeCount:" + removeCount + "::total:" + total);
            } catch (Throwable t) {
-                CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "drawTrajectoryList error (isExcept: "+isExcept+") : " + t);
+                Log.d("Route","error:" + Log.getStackTraceString(t));
            } finally {
-                if (isExcept) {
-                    setVisible(false);
-                }
-                if (points.size() > 0) {
-                    for (int i = 0; i < points.size(); i++) {
-                        MogoLatLng latLng = points.get(i);
-                        if (latLng == null) {
-                            continue;
-                        }
-                        pools.release(latLng);
+                try {
+                    if (isExcept) {
+                        hide();
                    }
+                    if (!pps.isEmpty()) {
+                        for (int i = 0; i < pps.size(); i++) {
+                            MogoLatLng latLng = pps.get(i);
+                            if (latLng == null) {
+                                continue;
+                            }
+                            pools.release(latLng);
+                        }
+                    }
+                } catch (Throwable  t) {
+                    Log.d("Route", "error2:" + Log.getStackTraceString(t));
                }
            }
        }

+        private void hide() {
+            List<RenderOptions> list = new ArrayList<>();
+            RenderOptions acquire = this.options.acquire();
+            while (acquire != null) {
+                acquire.hide();
+                list.add(acquire);
+                acquire = this.options.acquire();
+            }
+            for (int i = 0; i < list.size(); i++) {
+                this.options.release(list.get(i));
+            }
+        }
+
+        public void remove() {
+            List<RenderOptions> list = new ArrayList<>();
+            RenderOptions acquire = this.options.acquire();
+            while (acquire != null) {
+                acquire.remove();
+                list.add(acquire);
+                acquire = this.options.acquire();
+            }
+            for (int i = 0; i < list.size(); i++) {
+                this.options.release(list.get(i));
+            }
+        }
+
        private long isPointOnCarFront(double car_lon, double car_lat, double car_head, double lon, double lat) {
            long start = SystemClock.elapsedRealtime();
            try {
                // 计算车辆与点之间的夹角
                long diffAngle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
                        car_lon, car_lat, lon, lat, car_head);
-                CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "isPointOnCarFront: angle->" + diffAngle);
+                Log.d("Route", "isPointOnCarFront: angle->" + diffAngle);
                return diffAngle;
            } finally {
-                CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "isPointOnCarFront cost:" + (SystemClock.elapsedRealtime() - start) + "ms");
+                Log.d("Route", "isPointOnCarFront cost:" + (SystemClock.elapsedRealtime() - start) + "ms");
            }
        }
    }

-    private volatile RenderTask mRenderTask;
+    private RenderTask mRenderTask;

-    public void drawTrajectoryList(MogoLocation carLoc, List<MessagePad.TrajectoryPoint> routeList) {
+    public void drawTrajectoryList(Lock lock, MogoLocation carLoc, List<MessagePad.TrajectoryPoint> routeList) {
        if (mRenderTask == null) {
            mRenderTask = new RenderTask();
        }
-        mRenderTask.setData(carLoc, routeList);
+        mRenderTask.setData(lock, carLoc, routeList);
        if (mRenderHandler != null) {
            mRenderHandler.removeCallbacks(mRenderTask);
            mRenderHandler.post(mRenderTask);
        }
    }
-
-    public void setVisible(boolean isVisible) {
-        if (mMoGoPolyline != null && !mMoGoPolyline.isDestroyed()) {
-            mMoGoPolyline.setVisible(isVisible);
-        }
-    }
 }
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteStrategy.kt
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteStrategy.kt
@@ -0,0 +1,202 @@
+package com.mogo.module.service.routeoverlay
+
+import android.graphics.*
+import com.mogo.eagle.core.data.config.*
+import com.mogo.eagle.core.utilcode.mogo.*
+import java.lang.Double.NaN
+import java.util.*
+import kotlin.collections.ArrayList
+
+
+interface IStrategy {
+
+    fun getColors(): Array<Int>
+
+    fun getIndexes(): Array<Int>
+}
+
+class Colors {
+
+    companion object {
+        val COLOR_BLUE_DARK = Color.parseColor("#2ABAD9")
+        val COLOR_BLUE_LIGHT = Color.parseColor("#332ABAD9")
+        val COLOR_RED_DARK  = Color.parseColor("#CA4C15")
+        val COLOR_TRANSPARENT  = Color.parseColor("#002ABAD9")
+    }
+}
+
+
+sealed class Strategy: IStrategy
+
+class Uniform(private val count: Int, private val colors: Array<Int>? = null): Strategy() {
+
+    override fun getColors(): Array<Int> = colors ?: arrayOf(Colors.COLOR_BLUE_DARK, Colors.COLOR_TRANSPARENT)
+
+    override fun getIndexes(): Array<Int> = arrayOf(0, count)
+}
+
+
+class SlowDown(private val colors: Array<Int>, private val indexes: Array<Int>): Strategy() {
+
+    override fun getColors(): Array<Int> = colors
+
+    override fun getIndexes(): Array<Int> = indexes
+
+    override fun toString(): String {
+        return indexes.joinToString(",")
+    }
+}
+
+
+class SpeedUp(private val count: Int): Strategy() {
+    override fun getColors(): Array<Int> = arrayOf(Colors.COLOR_BLUE_DARK, Colors.COLOR_TRANSPARENT)
+
+    override fun getIndexes(): Array<Int> = arrayOf(0, count)
+}
+
+
+object RouteStrategy {
+
+    private var strategy: Strategy? = null
+    private var index: Int = 0
+
+    private var oldV: Double = NaN
+    private var oldA: Double = NaN
+    private var mode: Int = -1 // 0: 匀速， 1:减速， 2: 加速
+    private val colors4SlowDown: LinkedList<Int> = LinkedList()
+    private val colors4Uniform: LinkedList<Int> = LinkedList()
+    private val indexes4SlowDown: LinkedList<Int> = LinkedList()
+    private var isLightBlueAll = false
+    private var isRedBlue = false
+    private var ignore = false
+    private var firstV: Double = NaN
+
+    private var isEnable = AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)
+
+    fun enable(enable: Boolean) {
+        isEnable = enable
+    }
+
+    fun start() {
+        strategy = null
+        index = 0
+        mode = -1
+        ignore = false
+        colors4Uniform.clear()
+        colors4SlowDown.clear()
+        indexes4SlowDown.clear()
+        isLightBlueAll = false
+        isRedBlue = false
+        oldA = NaN
+        oldV = NaN
+        firstV = NaN
+    }
+
+    fun end() {
+        strategy = acquireStrategy()
+    }
+
+    private fun acquireStrategy(): Strategy? {
+        if (mode == 0) {
+            return if (colors4Uniform.isNotEmpty()) Uniform(index, colors = Array(colors4Uniform.size) {
+                colors4Uniform[it]
+            }) else null
+        }
+        if (mode == 2) {
+            return SpeedUp(index)
+        }
+
+        if (indexes4SlowDown.isEmpty() || !isLightBlueAll) {
+            return null
+        }
+        val count = indexes4SlowDown.size
+        if (count == 3) {
+            val colors = when {
+                isRedBlue -> {
+                    arrayOf(Colors.COLOR_RED_DARK, Colors.COLOR_BLUE_DARK, Colors.COLOR_BLUE_LIGHT, Colors.COLOR_TRANSPARENT)
+                }
+                else -> {
+                    return Uniform(index)
+                }
+            }
+            val indexes = ArrayList<Int>()
+            val i = indexes4SlowDown[2]
+            if (index - i < 5) {
+                return Uniform(index)
+            }
+            indexes += 0
+            indexes += i
+            indexes += i
+            indexes += index
+            return SlowDown(colors, indexes = indexes.toTypedArray())
+        }
+        return null
+    }
+
+    fun check(speed: Double, acc: Double) {
+        try {
+            if (!isEnable){
+                return
+            }
+            if (ignore) {
+                return
+            }
+            if (oldV.isNaN()) {
+                return
+            }
+            if (oldA.isNaN()) {
+                return
+            }
+            if (index < 3) {
+                //丢掉前3个点
+                return
+            }
+            if (firstV.isNaN()) {
+                firstV = speed;
+                return
+            }
+            if (speed == oldV) {
+                if (speed <= 0.01) {
+                    colors4Uniform.clear()
+                    colors4Uniform.add(Colors.COLOR_BLUE_LIGHT)
+                    colors4Uniform.add(Colors.COLOR_TRANSPARENT)
+                }
+                ignore = true
+                mode = 0
+                return
+            }
+
+            if (speed > oldV) {
+                mode = 2
+                ignore = true
+                return
+            }
+
+            if (speed < oldV) {
+                if (mode != 1) {
+                    indexes4SlowDown.add(0)
+                    mode = 1
+                }
+            }
+            if (mode == 1) {
+                if (!isLightBlueAll && speed <= 0.01) {
+                    isLightBlueAll = true
+                    indexes4SlowDown.add(index)
+                    ignore = true
+                    return
+                }
+
+                if (!isRedBlue && firstV > 0 && speed > 0 && speed <= firstV / 2.0) {
+                    isRedBlue = true
+                    indexes4SlowDown.add(index)
+                }
+            }
+        } finally {
+            index++
+            oldV = speed
+            oldA = acc
+        }
+    }
+
+   fun getStrategy(): Strategy = if (isEnable) strategy ?: Uniform(index) else SpeedUp(index)
+}
--- 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
@@ -11,7 +11,6 @@ import com.apm.insight.log.VLog;
 import com.bytedance.apm.insight.ApmInsight;
 import com.bytedance.apm.insight.ApmInsightAgent;
 import com.bytedance.apm.insight.ApmInsightInitConfig;
-import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.constants.SharedPrefsConstants;
 import com.mogo.eagle.core.data.bindingcar.CarInfo;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
@@ -54,7 +53,10 @@ 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 = GsonUtils.fromJson(carInfoString, CarInfo.class);
+                        CarInfo info = null;
+                        if (carInfoString != null && !carInfoString.isEmpty()) {
+                            info = GsonUtils.fromJson(carInfoString, CarInfo.class);
+                        }

                        //地图版本
                        String mapSDKVersion = AppUtils.getCustomMapSDKVersion(context);
@@ -71,16 +73,21 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
        String mapSDKVersion = AppUtils.getCustomMapSDKVersion(context);
        crash.config().setChannel("MAP_SDK_VERSION:"+mapSDKVersion);
        //可选，可以设置自定义did,不设置会使用内部默认的
-        crash.config().setDeviceId(MoGoAiCloudClientConfig.getInstance().getSn());
+        String sn = SharedPrefsMgr.getInstance(context).getString("sn");
+        if (sn != null && !sn.isEmpty()) {
+            crash.config().setDeviceId(sn);
+        } else {
+            crash.config().setDeviceId(DeviceIdUtils.getDeviceId(context));
+        }
        crash.addTags(MAP_SDK_VERSION, mapSDKVersion);
 //        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

        HashMap<String, String> dimension = new HashMap<>();
        //维度值
-        dimension.put("Devices_SN_DeviceId", MoGoAiCloudClientConfig.getInstance().getSn() + "__" + DeviceIdUtils.getDeviceId(context));
-        dimension.put("Devices_SN_WidevineID_MD5", MoGoAiCloudClientConfig.getInstance().getSn() + "__" + DeviceIdUtils.getWidevineIDWithMd5(context));
-        dimension.put("Devices_SN_WidevineID", MoGoAiCloudClientConfig.getInstance().getSn() + "__" + DeviceIdUtils.getWidevineID(context));
+        dimension.put("Devices_SN_DeviceId", sn + "__" + DeviceIdUtils.getDeviceId(context));
+        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);
        HashMap<String, Double> metric = new HashMap<>();
        //指标值
--- a/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportProvider.java
+++ b/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportProvider.java
@@ -5,8 +5,8 @@ import android.text.TextUtils;

 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.alibaba.android.arouter.facade.template.IProvider;
-import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.debug.DebugConfig;
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.AppUtils;
 import com.mogo.test.crashreport.CrashReportConstants;
 import com.tencent.bugly.Bugly;
@@ -38,7 +38,10 @@ public class UpgradeReportProvider implements IProvider {
        String productFlavor = DebugConfig.getProductFlavor();
        strategy.setAppChannel(productFlavor);
        Bugly.init(context, CrashReportConstants.buglyAppID, true, strategy);
-        Bugly.putUserData(context, "serial", MoGoAiCloudClientConfig.getInstance().getSn());
+        String sn = SharedPrefsMgr.getInstance(context).getString("sn");
+        if (sn != null && !sn.isEmpty()) {
+            Bugly.putUserData(context, "serial", sn);
+        }
        String mapSDKVersion = AppUtils.getCustomMapSDKVersion(context);
        Bugly.putUserData(context, "MAP_SDK_VERSION", mapSDKVersion);
    }