diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle
index 3278b1c35b..689d666b06 100644
--- a/libraries/map-custom/build.gradle
+++ b/libraries/map-custom/build.gradle
@@ -67,7 +67,7 @@ dependencies {
         implementation project(':foudations:mogo-commons')
     }
 
-    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.3.0'
+    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.3.2'
 //    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
 }
 
diff --git a/modules/mogo-module-service/src/main/assets/adas2.txt b/modules/mogo-module-service/src/main/assets/adas2.txt
new file mode 100644
index 0000000000..6c6f5ad569
--- /dev/null
+++ b/modules/mogo-module-service/src/main/assets/adas2.txt
@@ -0,0 +1 @@
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diff --git a/modules/mogo-module-service/src/main/assets/loc4.csv b/modules/mogo-module-service/src/main/assets/loc4.csv
new file mode 100644
index 0000000000..ff130113ce
--- /dev/null
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diff --git a/modules/mogo-module-service/src/main/assets/loc5.txt b/modules/mogo-module-service/src/main/assets/loc5.txt
new file mode 100644
index 0000000000..6314437151
--- /dev/null
+++ b/modules/mogo-module-service/src/main/assets/loc5.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
index de10a4e730..bb40935461 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
@@ -559,10 +559,11 @@ public class MockIntentHandler implements IntentHandler {
                 SnapshotSetDataDrawer.getInstance().renderSnapshotData( GsonUtil.objectFromJson( json, MogoSnapshotSetData.class ) );
                 break;
             case 47:
-                mLocationMockHandler.sendEmptyMessageDelayed( 1, 500L );
+                mLocationMockHandler.sendEmptyMessageDelayed( 1, 4000L );
 //                mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
 //                mLocationMockHandler.sendEmptyMessageDelayed( 21, 200 );
                 mLocationMockHandler.sendEmptyMessageDelayed( 3, 0L );
+//                mLocationMockHandler.sendEmptyMessageDelayed( 31, 2000L );
 //                mLocationMockHandler.sendEmptyMessageDelayed( 5, 0L );
                 break;
             case 48:
@@ -690,6 +691,17 @@ public class MockIntentHandler implements IntentHandler {
                     }
                     br3 = null;
                 }
+            } else if( msg.what == 31 ){
+                try {
+                    handleMockAdasIntent3();
+                } catch ( Exception e ) {
+                    try {
+                        br31.close();
+                    } catch ( IOException ex ) {
+                        ex.printStackTrace();
+                    }
+                    br31 = null;
+                }
             } else if ( msg.what == 5 ) {
                 try {
                     handleMockAdasLocIntent();
@@ -720,7 +732,7 @@ public class MockIntentHandler implements IntentHandler {
 
     private boolean handleMockLocationIntent() throws Exception {
         if ( br == null ) {
-            br = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "loc.txt" ) ) );
+            br = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "loc5.txt" ) ) );
         }
         final long start = System.currentTimeMillis();
         String line = br.readLine();
@@ -734,7 +746,42 @@ public class MockIntentHandler implements IntentHandler {
         Log.i( "mock-timer-loc-map", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
         SnapshotLocationController.getInstance().syncAdasLocationInfo( jo );
         Log.i( "mock-timer-loc", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
-        mLocationMockHandler.sendEmptyMessageDelayed( 1, 100L );
+        mLocationMockHandler.sendEmptyMessageDelayed( 1, 50L );
+        return true;
+    }
+
+    private boolean handleMockLocation4Intent() throws Exception {
+        if ( br == null ) {
+            br = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "loc4.csv" ) ) );
+        }
+        final long start = System.currentTimeMillis();
+        String line = br.readLine();
+        if ( line == null ) {
+            throw new Exception( "end of file." );
+        }
+        String[] lineInfo = line.split(",");
+//        {"systemTime":1611556780918,"satelliteTime":1611556780918,"lon":116.411180361079,"lat":39.980735708079,
+//        "alt":34.58304214,"heading":357.5486755,"speed":12.132635}
+        // 1615283773276 ,116.411321995561 ,39.978070895874 ,34.296333 ,0.971988 ,0.841514 ,4.4176307 ,0.1555639 ,1615283773214 ,1615283773481
+        JSONObject jo = new JSONObject();
+        long time = Long.parseLong(lineInfo[lineInfo.length - 1].trim());
+        jo.put( "satelliteTime", time );
+        jo.put( "systemTime", time );
+        jo.put("lon", Double.parseDouble(lineInfo[1].trim()));
+        jo.put("lat",Double.parseDouble(lineInfo[2].trim()));
+        jo.put("alt", Double.parseDouble(lineInfo[3].trim()));
+        jo.put("heading", Double.parseDouble(lineInfo[4].trim()));
+        jo.put("speed", Double.parseDouble(lineInfo[6].trim()));
+        MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( jo );
+        Log.i( "mock-timer-loc-map", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+        SnapshotLocationController.getInstance().syncAdasLocationInfo( jo );
+        Log.i( "mock-timer-loc", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+        long delay = 100;
+        if (lastLoc != 0){
+            delay = time - lastLoc;
+        }
+        lastLoc = time;
+        mLocationMockHandler.sendEmptyMessageDelayed( 1, 50L );
         return true;
     }
 
@@ -760,6 +807,7 @@ public class MockIntentHandler implements IntentHandler {
     private BufferedReader br2;
 
     private long last = 0;
+    private long lastLoc = 0;
 
     private boolean handleMockSnapshotIntent() throws Exception {
         if ( br2 == null ) {
@@ -826,11 +874,12 @@ public class MockIntentHandler implements IntentHandler {
     }
 
     private BufferedReader br3;
+    private BufferedReader br31;
     private long lastTime = 0;
 
     private boolean handleMockAdasIntent() throws Exception {
         if ( br3 == null ) {
-            br3 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas.txt" ) ) );
+            br3 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas2.txt" ) ) );
         }
         String line = br3.readLine();
         if ( line == null ) {
@@ -845,12 +894,103 @@ public class MockIntentHandler implements IntentHandler {
 //        adasRecognizedResult.lon = coor[0];
 //        adasRecognizedResult.lat = coor[1];
         allList.add( adasRecognizedResult );
+        ADASRecognizedResult next = handleMockAdasIntent3();
+        if(next != null){
+            allList.add(next);
+        }
 
         final long start = System.currentTimeMillis();
 
         AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( allList );
         Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
-        mLocationMockHandler.sendEmptyMessageDelayed( 3, 100L );
+        long delay = 100;
+        if (last != 0){
+            delay = adasRecognizedResult.satelliteTime - last;
+        }
+        last = adasRecognizedResult.satelliteTime;
+
+        Log.d("send-delay", "delay: " + delay);
+        mLocationMockHandler.sendEmptyMessageDelayed( 3, 50L );
+        return true;
+    }
+
+    private ADASRecognizedResult handleMockAdasIntent3() throws Exception {
+        if ( br31 == null ) {
+            br31 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas3.txt" ) ) );
+        }
+        String line = br31.readLine();
+        if ( line == null ) {
+            throw new Exception( "end of file 3." );
+        }
+        List< ADASRecognizedResult > allList = new ArrayList<>();
+        ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
+        if ( adasRecognizedResult == null ) {
+            return null;
+        }
+//        double[] coor = CoordinateUtils.transformWgsToGcj( adasRecognizedResult.lat, adasRecognizedResult.lon );
+//        adasRecognizedResult.lon = coor[0];
+//        adasRecognizedResult.lat = coor[1];
+        adasRecognizedResult.uuid = "2_2";
+        return adasRecognizedResult;
+//        allList.add( adasRecognizedResult );
+//
+//        final long start = System.currentTimeMillis();
+//
+//        AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( allList );
+//        Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+//        long delay = 100;
+//        if (last != 0){
+//            delay = adasRecognizedResult.satelliteTime - last;
+//        }
+//        last = adasRecognizedResult.satelliteTime;
+//
+//        Log.d("send-delay", "delay: " + delay);
+//        mLocationMockHandler.sendEmptyMessageDelayed( 31, 50L );
+//        return true;
+    }
+
+    private boolean handleMockAdasIntent2() throws Exception {
+        if ( br3 == null ) {
+            br3 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "loc4.csv" ) ) );
+        }
+        String line = br3.readLine();
+        if ( line == null ) {
+            throw new Exception( "end of file 3." );
+        }
+        List< ADASRecognizedResult > allList = new ArrayList<>();
+        String[] lineInfo = line.split(",");
+        JSONObject jo = new JSONObject();
+        long time = Long.parseLong(lineInfo[lineInfo.length - 1].trim());
+        jo.put( "satelliteTime", time );
+        jo.put( "systemTime", time );
+        jo.put("lon", Double.parseDouble(lineInfo[1].trim()));
+        jo.put("lat",Double.parseDouble(lineInfo[2].trim()));
+        jo.put("alt", Double.parseDouble(lineInfo[3].trim()));
+        jo.put("heading", Double.parseDouble(lineInfo[4].trim()));
+        jo.put("speed", Double.parseDouble(lineInfo[6].trim()));
+        jo.put("type", 3);
+        jo.put("uuid", "2_1");
+        ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( jo.toString(), ADASRecognizedResult.class );
+        if ( adasRecognizedResult == null ) {
+            return false;
+        }
+//        double[] coor = CoordinateUtils.transformWgsToGcj( adasRecognizedResult.lat, adasRecognizedResult.lon );
+//        adasRecognizedResult.lon = coor[0];
+//        adasRecognizedResult.lat = coor[1];
+        allList.add( adasRecognizedResult );
+
+        final long start = System.currentTimeMillis();
+
+        AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( allList );
+        Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+        long delay = 100;
+        if (last != 0){
+            delay = adasRecognizedResult.satelliteTime - last;
+        }
+        last = adasRecognizedResult.satelliteTime;
+
+        Log.d("send-delay", "delay: " + delay);
+        mLocationMockHandler.sendEmptyMessageDelayed( 3, 50L );
         return true;
     }