diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketHandlerThread.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketHandlerThread.java
index bf17ae09c5..4343842f8c 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketHandlerThread.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketHandlerThread.java
@@ -19,9 +19,8 @@ public class WebSocketHandlerThread extends HandlerThread {
         tag = name;
     }
 
-    @Override
-    public void run() {
-        super.run();
+
+    public void initHandler(){
         mHandler = new Handler(this.getLooper()) {
             @Override
             public void handleMessage(Message msg) {
@@ -34,6 +33,7 @@ public class WebSocketHandlerThread extends HandlerThread {
         };
     }
 
+
     public void sendMsg(String msg) {
         if(mHandler!=null) {
             Message message = new Message();
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
index 5cd489872b..e83e05a4a3 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
@@ -35,6 +35,7 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
     public WebSocketManager(Context context) {
         handlerThread = new WebSocketHandlerThread(TAG);
         handlerThread.start();
+        handlerThread.initHandler();
     }
 
     @Keep
@@ -155,6 +156,7 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
     @Override
     public void onConnectClose() {
         Logger.d(TAG, "websocket ready to reconnect");
+        SocketClient.getInstance().getClientProxy().stop();
         SocketClient.getInstance().getClientProxy().reConnect();
     }
 
diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle
index be76b52f42..31c8e8ebee 100644
--- a/libraries/map-custom/build.gradle
+++ b/libraries/map-custom/build.gradle
@@ -55,7 +55,7 @@ dependencies {
         implementation project(':foudations:mogo-commons')
     }
 
-    implementation 'com.zhidaoauto.machine:map:1.0.0-online-16'
+    implementation 'com.zhidaoauto.machine:map:1.0.0-online-18'
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
index c59d308e86..ad1ed7b446 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
@@ -68,27 +68,27 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
 
     private float mDefaultZoomLevel = 16.0f;
     private final CarCursorOption DEFAULT_OPTION = new CarCursorOption.Builder()
-            .carCursorRes(R.drawable.map_api_ic_current_location2)
-            .naviCursorRes(R.drawable.ic_amap_navi_cursor)
+            .carCursorRes( R.drawable.map_api_ic_current_location2 )
+            .naviCursorRes( R.drawable.ic_amap_navi_cursor )
             .build();
     private CarCursorOption mCarCursorOption = DEFAULT_OPTION;
 
-    public AMapViewWrapper(MapAutoView mMapView) {
+    public AMapViewWrapper( MapAutoView mMapView ) {
         startTime = System.currentTimeMillis();
-        Logger.i(TAG, "autoop--AMapViewWrapper: init");
+        Logger.i( TAG, "autoop--AMapViewWrapper: init" );
         this.mMapView = mMapView;
         initListeners();
-        this.mIMap = new AMapWrapper(this.mMapView.getMapAutoViewHelper(), this.mMapView, this);
+        this.mIMap = new AMapWrapper( this.mMapView.getMapAutoViewHelper(), this.mMapView, this );
     }
 
     private void initMapView() {
-        if (mMapView == null) {
+        if ( mMapView == null ) {
             return;
         }
         MapAutoViewHelper options = mMapView.getMapAutoViewHelper();
-        if (options != null) {
+        if ( options != null ) {
             // 设置是否开启自动黑夜模式切换，默认为false，不自动切换
-            options.setAutoSwitchStyle(false);
+//            options.setAutoSwitchStyle(false);
             // 设置6秒后是否自动锁车
 //            options.setAutoLockCar( false );
             // 设置路线上的摄像头气泡是否显示
@@ -96,11 +96,11 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
             // 设置路线相关的配置属性，如：路线的路况颜色，路线上是否显示摄像头气泡等。
             // options.setRouteOverlayOptions( MapStyleUtils.getRouteOverlayOptions() );
             // 设置自车的图片对象
-            options.setMyLocationStyle( options.getMyLocationStyle().myLocationIcon(DEFAULT_OPTION.getCarCursorRes()));
+            options.setMyLocationStyle( options.getMyLocationStyle().myLocationIcon( DEFAULT_OPTION.getCarCursorRes() ) );
             // 设置指南针图标否在导航界面显示，默认显示。true，显示；false，隐藏。
-            options.hiddenDirection();
+//            options.hiddenDirection();
             // 黑夜模式
-            options.setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
+//            options.setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
             //设置路况光柱条是否显示（只适用于驾车导航，需要联网）。
 //            options.setTrafficBarEnabled( false );
             // 设置[实时交通图层开关按钮]是否显示（只适用于驾车导航，需要联网）。
@@ -137,29 +137,29 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
 //            options.setNaviArrowVisible( false );
             // 通过路线是否自动置灰，仅支持驾车导航
 //            options.setAfterRouteAutoGray( true );
-            options.setZoom(((int) mDefaultZoomLevel));
+//            options.setZoom(((int) mDefaultZoomLevel));
 //            options.setPointToCenter( 0.5D, 0.5D );
             // 2D模式
-            options.setMapViewPerspective(MapAutoApi.MAP_PERSPECTIVE_2D);
+//            options.setMapViewPerspective(MapAutoApi.MAP_PERSPECTIVE_2D);
 //            mMapView.setViewOptions( options );
         }
 //        mMapView.setRouteOverlayVisible( false );
 //        mMapView.setCarOverlayVisible( false );
-        setUIMode(EnumMapUI.CarUp_2D);
+//        setUIMode(EnumMapUI.CarUp_2D);
     }
 
     private void initListeners() {
 
-        mMapView.setOnMarkClickListener(this);
+        mMapView.setOnMarkClickListener( this );
         mMarkerClickHandler = new AMapMarkerClickHandler();
-        mMapView.setOnMapLoadedListener(this);
-        mMapView.setOnMapTouchListener(this);
-        mMapView.setOnMapClickListener(this);
-        mMapView.getLocationClient().registerListener(this);
-        mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_ZOOM);
-        mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_ROTATE);
-        mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_3D);
-        mMapView.setMOnCameraChangeListener(this);
+        mMapView.setOnMapLoadedListener( this );
+        mMapView.setOnMapTouchListener( this );
+        mMapView.setOnMapClickListener( this );
+        mMapView.getLocationClient().registerListener( this );
+        mMapView.registerListener( this, MapAutoApi.LISTENER_TYPE_ZOOM );
+        mMapView.registerListener( this, MapAutoApi.LISTENER_TYPE_ROTATE );
+        mMapView.registerListener( this, MapAutoApi.LISTENER_TYPE_3D );
+        mMapView.setMOnCameraChangeListener( this );
 
 //        mMapView.setOnPolylineClickListener( this );
 //        mMapView.setAMapNaviViewListener( this );
@@ -190,10 +190,10 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
     }
 
     @Override
-    public void onCreate(Bundle bundle) {
-        if (mMapView != null) {
-            mMapView.onCreate(bundle);
-            Logger.d(TAG, "map onCreate");
+    public void onCreate( Bundle bundle ) {
+        if ( mMapView != null ) {
+            mMapView.onCreate( bundle );
+            Logger.d( TAG, "map onCreate" );
             initMapView();
 
 //            initMyLocation();
@@ -202,33 +202,33 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
 
     @Override
     public void onResume() {
-        if (mMapView != null) {
+        if ( mMapView != null ) {
             mMapView.onResume();
-            Logger.d(TAG, "map onResume");
+            Logger.d( TAG, "map onResume" );
         }
     }
 
     @Override
     public void onPause() {
-        if (mMapView != null) {
+        if ( mMapView != null ) {
             mMapView.onPause();
-            Logger.d(TAG, "map onPause");
+            Logger.d( TAG, "map onPause" );
         }
     }
 
     @Override
     public void onDestroy() {
-        if (mMapView != null) {
+        if ( mMapView != null ) {
             mMapView.onDestroy();
-            Logger.d(TAG, "map onDestroy");
+            Logger.d( TAG, "map onDestroy" );
         }
     }
 
     @Override
-    public void onSaveInstanceState(Bundle outState) {
-        if (mMapView != null) {
-            mMapView.onSaveInstanceState(outState);
-            Logger.d(TAG, "map onSaveInstanceState");
+    public void onSaveInstanceState( Bundle outState ) {
+        if ( mMapView != null ) {
+            mMapView.onSaveInstanceState( outState );
+            Logger.d( TAG, "map onSaveInstanceState" );
         }
     }
 
@@ -238,205 +238,207 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
     }
 
     @Override
-    public void setTrafficEnabled(boolean visible) {
-        if (checkAMapView()) {
+    public void setTrafficEnabled( boolean visible ) {
+        if ( checkAMapView() ) {
 //            mMapView.getMapAutoViewHelper().setTraffic(visible);
         }
     }
 
     @Override
-    public MapControlResult changeZoom(boolean zoom) {
-        if (checkAMapView()) {
-            mDefaultZoomLevel = (getMap().getZoomLevel() + 0.5f);
+    public MapControlResult changeZoom( boolean zoom ) {
+        if ( checkAMapView() ) {
+            mDefaultZoomLevel = ( getMap().getZoomLevel() + 0.5f );
 
-            if (zoom) {
-                if (mDefaultZoomLevel >= 20f) {
+            if ( zoom ) {
+                if ( mDefaultZoomLevel >= 20f ) {
                     return MapControlResult.TARGET;
                 }
             } else {
-                if (mDefaultZoomLevel <= 7f) {
+                if ( mDefaultZoomLevel <= 7f ) {
                     return MapControlResult.TARGET;
                 }
             }
 
-            if (zoom) {
+            if ( zoom ) {
                 mDefaultZoomLevel += 1f;
-                if (mDefaultZoomLevel > 19f) {
+                if ( mDefaultZoomLevel > 19f ) {
                     mDefaultZoomLevel = 19f;
                 }
             } else {
                 mDefaultZoomLevel -= 1f;
-                if (mDefaultZoomLevel < 8f) {
+                if ( mDefaultZoomLevel < 8f ) {
                     mDefaultZoomLevel = 8f;
                 }
             }
-            changeZoom(mDefaultZoomLevel);
+            changeZoom( mDefaultZoomLevel );
         }
         return MapControlResult.SUCCESS;
     }
 
     @Override
-    public MapControlResult changeZoom(float zoom) {
-        Logger.d(TAG, "changeZoom %s", zoom);
-        if (DebugConfig.isDebug()) {
-            Logger.d(TAG, Log.getStackTraceString(new Throwable()));
+    public MapControlResult changeZoom( float zoom ) {
+        Logger.d( TAG, "changeZoom %s", zoom );
+        if ( DebugConfig.isDebug() ) {
+            Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
         }
 
-        getMap().changeZoom(zoom);
+        getMap().changeZoom( zoom );
         return MapControlResult.SUCCESS;
     }
 
     @Override
-    public void changeMapMode(EnumMapUI ui) {
-        if (ui == null) {
+    public void changeMapMode( EnumMapUI ui ) {
+        if ( ui == null ) {
             return;
         }
-        if (checkAMapView()) {
-            switch (ui) {
-                case CarUp_2D:
-                case CarUp_3D:
-                case NorthUP_2D:
-                    //setUIMode( ui, options );
-                    return;
-                case Type_Light:
-                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
-                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_DAY);
-                    break;
-                case Type_Night:
-                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
-                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
-                    break;
-                case Type_AUTO_LIGHT_Night:
-                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(true);
-                    break;
-            }
-
+        if ( checkAMapView() ) {
+//            switch (ui) {
+//                case CarUp_2D:
+//                case CarUp_3D:
+//                case NorthUP_2D:
+//                    break;
+//                case Type_VR:
+//                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_VR);
+//                    //setUIMode( ui, options );
+//                    return;
+//                case Type_Light:
+//                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
+//                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_DAY);
+//                    break;
+//                case Type_Night:
+//                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
+//                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
+//                    break;
+//                case Type_AUTO_LIGHT_Night:
+//                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(true);
+//                    break;
         }
+
     }
 
     @Override
-    public void moveToCenter(MogoLatLng latLng) {
+    public void moveToCenter( MogoLatLng latLng ) {
 
     }
 
-    private void setUIMode(EnumMapUI ui) {
+    private void setUIMode( EnumMapUI ui ) {
         this.mCurrentUIMode = ui;
-        if (mMapView.getMapAutoViewHelper() != null) {
-            switch (ui) {
+        if ( mMapView.getMapAutoViewHelper() != null ) {
+            switch ( ui ) {
                 case CarUp_2D:
-                    mMapView.getMapAutoViewHelper().setMapViewPerspective(MapAutoApi.MAP_PERSPECTIVE_2D);
+                    mMapView.getMapAutoViewHelper().setMapViewPerspective( MapAutoApi.MAP_PERSPECTIVE_2D );
                     break;
                 case CarUp_3D:
-                    mMapView.getMapAutoViewHelper().setMapViewPerspective(MapAutoApi.MAP_PERSPECTIVE_3D);
+                    mMapView.getMapAutoViewHelper().setMapViewPerspective( MapAutoApi.MAP_PERSPECTIVE_3D );
                     break;
                 case NorthUP_2D:
-                    mMapView.getMapAutoViewHelper().setRotateGesturesEnabled(false);
+                    mMapView.getMapAutoViewHelper().setRotateGesturesEnabled( false );
                     break;
             }
         }
     }
 
     private boolean checkAMapView() {
-        if (mMapView == null || mMapView.getMapAutoViewHelper() == null) {
-            Logger.e(TAG, "自研mapView实例为空，请检查");
+        if ( mMapView == null || mMapView.getMapAutoViewHelper() == null ) {
+            Logger.e( TAG, "自研mapView实例为空，请检查" );
             return false;
         }
         return true;
     }
 
     @Override
-    public void moveToCenter(MogoLatLng latLng, boolean animate) {
-        Logger.d(TAG, "move to center %s", latLng);
-        if (latLng == null || latLng.lat == 0.0d || latLng.lng == 0.0d) {
-            Logger.e(TAG, "latlng = null or is illegal");
+    public void moveToCenter( MogoLatLng latLng, boolean animate ) {
+        Logger.d( TAG, "move to center %s", latLng );
+        if ( latLng == null || latLng.lat == 0.0d || latLng.lng == 0.0d ) {
+            Logger.e( TAG, "latlng = null or is illegal" );
             return;
         }
-        if (DebugConfig.isDebug()) {
-            Logger.d(TAG, Log.getStackTraceString(new Throwable()));
+        if ( DebugConfig.isDebug() ) {
+            Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
         }
         loseLockMode();
-        mMapView.getMapAutoViewHelper().animateCamera(new LonLatPoint(latLng.lon, latLng.lat));
+        mMapView.getMapAutoViewHelper().animateCamera( new LonLatPoint( latLng.lon, latLng.lat ) );
     }
 
     @Override
-    public void showMyLocation(boolean visible) {
-        Logger.d(TAG, "showMyLocation1 %s", visible);
-        if (visible && NaviClient.getInstance(getContext()).isNaviing()) {
+    public void showMyLocation( boolean visible ) {
+        Logger.d( TAG, "showMyLocation1 %s", visible );
+        if ( visible && NaviClient.getInstance( getContext() ).isNaviing() ) {
             return;
         }
 //        if (DebugConfig.isDebug()) {
 //            Logger.d(TAG, Log.getStackTraceString(new Throwable()));
 //        }
-        if (checkAMapView()) {
+        if ( checkAMapView() ) {
             MyLocationStyle style = mMapView.getMapAutoViewHelper().getMyLocationStyle();
-            if (visible) {
+            if ( visible ) {
                 // 强制刷新一遍车标
-                style.myLocationIcon(mCarCursorOption.getCarCursorRes());
+                style.myLocationIcon( mCarCursorOption.getCarCursorRes() );
             }
-            mMapView.getMapAutoViewHelper().setMyLocationStyle(style);
+            mMapView.getMapAutoViewHelper().setMyLocationStyle( style );
         }
     }
 
     @Override
-    public void showMyLocation(View view) {
-        Logger.d(TAG, "showMyLocation %s", "view");
-        if (NaviClient.getInstance(getContext()).isNaviing()) {
+    public void showMyLocation( View view ) {
+        Logger.d( TAG, "showMyLocation %s", "view" );
+        if ( NaviClient.getInstance( getContext() ).isNaviing() ) {
             return;
         }
-        if (DebugConfig.isDebug()) {
-            Logger.d(TAG, Log.getStackTraceString(new Throwable()));
+        if ( DebugConfig.isDebug() ) {
+            Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
         }
-        if (checkAMapView()) {
+        if ( checkAMapView() ) {
             MyLocationStyle style = mMapView.getMapAutoViewHelper().getMyLocationStyle();
             style.myLocationIcon( BitmapDescriptorFactory.INSTANCE.convertViewToBitmap( view ) );
-            mMapView.getMapAutoViewHelper().setMyLocationStyle(style);
+            mMapView.getMapAutoViewHelper().setMyLocationStyle( style );
         }
     }
 
     public void initMyLocation() {
-        if (checkAMapView()) {
-            mMapView.getMapAutoViewHelper().setMyLocationEnabled(true);
+        if ( checkAMapView() ) {
+            mMapView.getMapAutoViewHelper().setMyLocationEnabled( true );
             MyLocationStyle style = mMapView.getMapAutoViewHelper().getMyLocationStyle();
-            style.setLocationType(MyLocationStyle.LOCATION_TYPE_FOLLOW_NO_CENTER);
-            style.interval(1000);
+            style.setLocationType( MyLocationStyle.LOCATION_TYPE_FOLLOW_NO_CENTER );
+            style.interval( 1000 );
 //            style.anchor( 0.5F, 0.5F );
 //            style.strokeColor( Color.TRANSPARENT );
 //            style.strokeWidth( 0 );
 //            style.radiusFillColor( Color.TRANSPARENT );
-            mMapView.getMapAutoViewHelper().setMyLocationStyle(style);
+            mMapView.getMapAutoViewHelper().setMyLocationStyle( style );
         }
     }
 
     @Override
     public void recoverLockMode() {
-        if (checkAMapView()) {
+        if ( checkAMapView() ) {
 //            if ( DebugConfig.isDebug() ) {
 //                Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
 //            }
-            Logger.d(TAG, "锁车");
+            Logger.d( TAG, "锁车" );
 //            mMapView.getMapAutoViewHelper().setZoom(mLockZoom);
-            mMapView.getMapAutoViewHelper().setLockMode(true);
+            mMapView.getMapAutoViewHelper().setLockMode( true );
             mIsCarLocked = true;
         }
     }
 
     @Override
     public void loseLockMode() {
-        if (DebugConfig.isDebug()) {
-            Logger.d(TAG, Log.getStackTraceString(new Throwable()));
+        if ( DebugConfig.isDebug() ) {
+            Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
         }
-        Logger.d(TAG, "解锁锁车");
-        mMapView.getMapAutoViewHelper().setLockMode(false);
+        Logger.d( TAG, "解锁锁车" );
+        mMapView.getMapAutoViewHelper().setLockMode( false );
         mIsCarLocked = false;
     }
 
     @Override
-    public void setLockZoom(int var1) {
+    public void setLockZoom( int var1 ) {
         mLockZoom = var1;
     }
 
     @Override
-    public void displayOverview(Rect bounds) {
+    public void displayOverview( Rect bounds ) {
 
     }
 
@@ -453,15 +455,15 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
 
     @Override
     public MogoLatLng getCameraNorthEastPosition() {
-        return ObjectUtils.fromAMap(MapTools.INSTANCE.getVisibleRegion().getRightTopPoint());
+        return ObjectUtils.fromAMap( MapTools.INSTANCE.getVisibleRegion().getRightTopPoint() );
     }
 
 
     @Override
     public MogoLatLng getCameraSouthWestPosition() {
         try {
-            return ObjectUtils.fromAMap(MapTools.INSTANCE.getVisibleRegion().getLeftBottomPoint());
-        } catch (Exception e) {
+            return ObjectUtils.fromAMap( MapTools.INSTANCE.getVisibleRegion().getLeftBottomPoint() );
+        } catch ( Exception e ) {
 
         }
         return null;
@@ -470,30 +472,30 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
     @Override
     public MogoLatLng getWindowCenterLocation() {
         try {
-            return ObjectUtils.fromAMap(mMapView.getMapAutoViewHelper().getCenter());
-        } catch (Exception e) {
+            return ObjectUtils.fromAMap( mMapView.getMapAutoViewHelper().getCenter() );
+        } catch ( Exception e ) {
 
         }
         return null;
     }
 
     @Override
-    public void setPointToCenter(double mapCenterX, double mapCenterY) {
-        if (checkAMapView()) {
+    public void setPointToCenter( double mapCenterX, double mapCenterY ) {
+        if ( checkAMapView() ) {
 //            if (DebugConfig.isDebug()) {
 //                Logger.d(TAG, Log.getStackTraceString(new Throwable()));
 //            }
-            Logger.d(TAG, "setPointToCenter(%s, %s)", mapCenterX, mapCenterY);
-            mMapView.getMapAutoViewHelper().setPointToCenter((float) mapCenterX, (float) mapCenterY);
+            Logger.d( TAG, "setPointToCenter(%s, %s)", mapCenterX, mapCenterY );
+            mMapView.getMapAutoViewHelper().setPointToCenter( ( float ) mapCenterX, ( float ) mapCenterY );
         }
     }
 
     @Override
-    public Point getLocationPointInScreen(MogoLatLng latLng) {
-        if (checkAMapView()) {
+    public Point getLocationPointInScreen( MogoLatLng latLng ) {
+        if ( checkAMapView() ) {
             try {
-                return MapTools.INSTANCE.toScreenLocation(ObjectUtils.fromMogo(latLng));
-            } catch (Exception e) {
+                return MapTools.INSTANCE.toScreenLocation( ObjectUtils.fromMogo( latLng ) );
+            } catch ( Exception e ) {
                 return null;
             }
         }
@@ -501,12 +503,12 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
     }
 
     @Override
-    public MogoLatLng getLocationMogoLatLngInScreen(Point point) {
-        if (checkAMapView()) {
+    public MogoLatLng getLocationMogoLatLngInScreen( Point point ) {
+        if ( checkAMapView() ) {
             try {
                 return ObjectUtils.fromAMap(
-                        MapTools.INSTANCE.fromScreenLocation(point));
-            } catch (Exception e) {
+                        MapTools.INSTANCE.fromScreenLocation( point ) );
+            } catch ( Exception e ) {
                 return null;
             }
         }
@@ -514,9 +516,9 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
     }
 
     @Override
-    public void startJumpAnimation(IMogoMarker marker, float high, Interpolator interpolator,
-                                   long duration) {
-        if (marker == null || high <= 0.0f || interpolator == null || duration < 0) {
+    public void startJumpAnimation( IMogoMarker marker, float high, Interpolator interpolator,
+                                    long duration ) {
+        if ( marker == null || high <= 0.0f || interpolator == null || duration < 0 ) {
             return;
         }
         try {
@@ -534,55 +536,55 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
 //                ( ( AMapMarkerWrapper ) marker ).getMarker().setAnimation( animation );
 //                ( ( AMapMarkerWrapper ) marker ).getMarker().startAnimation();
 //            }
-        } catch (Exception e) {
-            Logger.e(TAG, e, "error.");
+        } catch ( Exception e ) {
+            Logger.e( TAG, e, "error." );
         }
     }
 
     @Override
-    public void setRenderFps(int fps) {
-        if (checkAMapView()) {
-            if (mMapView.getMapAutoViewHelper() != null) {
-                mMapView.getMapAutoViewHelper().setRenderFps(fps);
-                Logger.d(TAG, "设置刷新帧率 fps = %s", fps);
+    public void setRenderFps( int fps ) {
+        if ( checkAMapView() ) {
+            if ( mMapView.getMapAutoViewHelper() != null ) {
+                mMapView.getMapAutoViewHelper().setRenderFps( fps );
+                Logger.d( TAG, "设置刷新帧率 fps = %s", fps );
             }
         }
     }
 
     @Override
-    public void showBounds(String tag, MogoLatLng carPosition, List<MogoLatLng> lonLats, Rect bound, boolean lockCarPosition) {
-        if (!checkAMapView()) {
+    public void showBounds( String tag, MogoLatLng carPosition, List< MogoLatLng > lonLats, Rect bound, boolean lockCarPosition ) {
+        if ( !checkAMapView() ) {
             return;
         }
-        Logger.i(TAG, "showBounds:%s -%s-%s- %b ", tag, carPosition.toString(), bound.toShortString(), lockCarPosition);
+        Logger.i( TAG, "showBounds:%s -%s-%s- %b ", tag, carPosition.toString(), bound.toShortString(), lockCarPosition );
         try {
-            if (DebugConfig.isDebug()) {
-                Logger.d(TAG, Log.getStackTraceString(new Throwable()));
+            if ( DebugConfig.isDebug() ) {
+                Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
             }
-            LatLngBounds latLngBounds = MogoMapUtils.getLatLngBounds(carPosition, lonLats, lockCarPosition);
-            if (!lockCarPosition) {
+            LatLngBounds latLngBounds = MogoMapUtils.getLatLngBounds( carPosition, lonLats, lockCarPosition );
+            if ( !lockCarPosition ) {
                 loseLockMode();
             }
-            mMapView.getMapAutoViewHelper().setCenter(ObjectUtils.fromMogo(carPosition));
-            mMapView.getMapAutoViewHelper().moveCamera(CameraUpdateFactory.INSTANCE.newLatLngBounds(latLngBounds, bound.left, bound.right, bound.top, bound.bottom));
-        } catch (Exception e) {
-            Logger.e(TAG, e, "%s error.", tag);
+            mMapView.getMapAutoViewHelper().setCenter( ObjectUtils.fromMogo( carPosition ) );
+            mMapView.getMapAutoViewHelper().moveCamera( CameraUpdateFactory.INSTANCE.newLatLngBounds( latLngBounds, bound.left, bound.right, bound.top, bound.bottom ) );
+        } catch ( Exception e ) {
+            Logger.e( TAG, e, "%s error.", tag );
         }
     }
 
     @Override
     public void forceRender() {
-        if (checkAMapView()) {
+        if ( checkAMapView() ) {
             mMapView.getMapAutoViewHelper().runOnDrawFrame();
         }
     }
 
     @Override
-    public float calculateLineDistance(MogoLatLng p1, MogoLatLng p2) throws Exception {
-        if (p1 == null || p2 == null) {
-            throw new Exception("计算距离的点不能为 null");
+    public float calculateLineDistance( MogoLatLng p1, MogoLatLng p2 ) throws Exception {
+        if ( p1 == null || p2 == null ) {
+            throw new Exception( "计算距离的点不能为 null" );
         }
-        return MogoMapUtils.calculateLineDistance(ObjectUtils.fromMogo(p1), ObjectUtils.fromMogo(p2));
+        return MogoMapUtils.calculateLineDistance( ObjectUtils.fromMogo( p1 ), ObjectUtils.fromMogo( p2 ) );
     }
 
 
@@ -592,7 +594,7 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
     }
 
     @Override
-    public void changeMyLocation(Location location) {
+    public void changeMyLocation( Location location ) {
     }
 
     @Override
@@ -601,125 +603,125 @@ public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, Loca
     }
 
     @Override
-    public void setCarCursorOption(CarCursorOption option) {
-        if (mCarCursorOption != null && mCarCursorOption != DEFAULT_OPTION) {
+    public void setCarCursorOption( CarCursorOption option ) {
+        if ( mCarCursorOption != null && mCarCursorOption != DEFAULT_OPTION ) {
             mCarCursorOption.destroy();
         }
-        if (option != null) {
+        if ( option != null ) {
             try {
                 mCarCursorOption = option.clone();
-            } catch (Exception e) {
+            } catch ( Exception e ) {
                 mCarCursorOption = DEFAULT_OPTION;
             }
         } else {
             mCarCursorOption = DEFAULT_OPTION;
         }
-        if (!checkAMapView()) {
+        if ( !checkAMapView() ) {
             return;
         }
 
-        if (mMapView.getMapAutoViewHelper() == null) {
+        if ( mMapView.getMapAutoViewHelper() == null ) {
             return;
         }
         MyLocationStyle style = mMapView.getMapAutoViewHelper().getMyLocationStyle();
-        if (mCarCursorOption.getCarCursorBmp() != null && !mCarCursorOption.getCarCursorBmp().isRecycled()) {
-            style.myLocationIcon(mCarCursorOption.getCarCursorBmp());
+        if ( mCarCursorOption.getCarCursorBmp() != null && !mCarCursorOption.getCarCursorBmp().isRecycled() ) {
+            style.myLocationIcon( mCarCursorOption.getCarCursorBmp() );
         } else {
-            if (mCarCursorOption.getCarCursorRes() != 0) {
-                style.myLocationIcon(mCarCursorOption.getCarCursorRes());
+            if ( mCarCursorOption.getCarCursorRes() != 0 ) {
+                style.myLocationIcon( mCarCursorOption.getCarCursorRes() );
             } else {
-                style.myLocationIcon(mCarCursorOption.getCarCursorRes());
+                style.myLocationIcon( mCarCursorOption.getCarCursorRes() );
             }
         }
-        mMapView.getMapAutoViewHelper().setMyLocationStyle(style);
+        mMapView.getMapAutoViewHelper().setMyLocationStyle( style );
     }
 
     @Override
     public MapCameraPosition getMapCameraPosition() {
-        if (checkAMapView()) {
+        if ( checkAMapView() ) {
             CameraPosition cameraPosition = mMapView.getMapAutoViewHelper().getCameraPosition();
-            return ObjectUtils.fromAMap(cameraPosition);
+            return ObjectUtils.fromAMap( cameraPosition );
         }
         return null;
     }
 
     @Override
-    public void changeBearing(float bearing) {
-        if (checkAMapView()) {
-            mMapView.getMapAutoViewHelper().setMapViewRotation(bearing);
+    public void changeBearing( float bearing ) {
+        if ( checkAMapView() ) {
+            mMapView.getMapAutoViewHelper().setMapViewRotation( bearing );
         }
     }
 
     @Override
-    public void onLocationChanged(@NotNull com.zhidaoauto.map.sdk.open.location.MogoLocation location) {
-        Location sysLocation = new Location(location.getProvider());
-        sysLocation.setAltitude(location.getAltitude());
-        sysLocation.setLatitude(location.getLat());
-        sysLocation.setLongitude(location.getLon());
-        sysLocation.setSpeed(location.getSpeed());
-        NaviClient.getInstance(getContext()).syncCarLocation(sysLocation);
+    public void onLocationChanged( @NotNull com.zhidaoauto.map.sdk.open.location.MogoLocation location ) {
+        Location sysLocation = new Location( location.getProvider() );
+        sysLocation.setAltitude( location.getAltitude() );
+        sysLocation.setLatitude( location.getLat() );
+        sysLocation.setLongitude( location.getLon() );
+        sysLocation.setSpeed( location.getSpeed() );
+        NaviClient.getInstance( getContext() ).syncCarLocation( sysLocation );
     }
 
     @Override
-    public void onMapClick(@Nullable LonLatPoint lonLatPoint) {
-        if (InterceptorHandler.getInstance().ignoreMapClicked(getContext())) {
+    public void onMapClick( @Nullable LonLatPoint lonLatPoint ) {
+        if ( InterceptorHandler.getInstance().ignoreMapClicked( getContext() ) ) {
             return;
         }
-        MogoMapListenerHandler.getInstance().onMapClick(ObjectUtils.fromAMap(lonLatPoint));
+        MogoMapListenerHandler.getInstance().onMapClick( ObjectUtils.fromAMap( lonLatPoint ) );
     }
 
 
     @Override
     public void onMapLoaded() {
-        Logger.i(TAG, "autoop--onMapLoaded: " );
+        Logger.i( TAG, "autoop--onMapLoaded: " );
         MogoMapListenerHandler.getInstance().onMapLoaded();
         CameraPosition cameraPosition = mMapView.getMapAutoViewHelper().getCameraPosition();
-        if (cameraPosition != null) {
-            Trace.beginSection("timer.onCameraChangeFinish");
-            MogoMapListenerHandler.getInstance().onMapChanged(ObjectUtils.fromAMap(cameraPosition.getTarget()),
+        if ( cameraPosition != null ) {
+            Trace.beginSection( "timer.onCameraChangeFinish" );
+            MogoMapListenerHandler.getInstance().onMapChanged( ObjectUtils.fromAMap( cameraPosition.getTarget() ),
                     cameraPosition.getZoom(),
                     cameraPosition.getTilt(),
-                    cameraPosition.getBearing());
+                    cameraPosition.getBearing() );
             Trace.endSection();
         }
 
     }
 
     @Override
-    public boolean onTouch(@Nullable MotionEvent motionEvent) {
-        MogoMapListenerHandler.getInstance().onTouch(motionEvent);
+    public boolean onTouch( @Nullable MotionEvent motionEvent ) {
+        MogoMapListenerHandler.getInstance().onTouch( motionEvent );
         return false;
     }
 
     @Override
-    public void onMarkClick(@NotNull Marker markerInfo) {
-        mMarkerClickHandler.handleMarkerClicked(markerInfo);
+    public void onMarkClick( @NotNull Marker markerInfo ) {
+        mMarkerClickHandler.handleMarkerClicked( markerInfo );
     }
 
     @Override
-    public void onRoadLoaded(@Nullable String s) {
+    public void onRoadLoaded( @Nullable String s ) {
 
     }
 
     @Override
-    public void onMapStatusChanged(int type, int value) {
-        Logger.i(TAG, "mapop--onMapStatusChanged-: " + type + "," + value);
+    public void onMapStatusChanged( int type, int value ) {
+        Logger.i( TAG, "mapop--onMapStatusChanged-: " + type + "," + value );
     }
 
     @Override
-    public void onCameraChange(int type, int value) {
-        Logger.i(TAG, "mapop--onCameraChange-: " + type + "," + value);
+    public void onCameraChange( int type, int value ) {
+        Logger.i( TAG, "mapop--onCameraChange-: " + type + "," + value );
     }
 
     @Override
-    public void onCameraChangeFinish(@Nullable CameraPosition cameraPosition) {
-        Logger.i(TAG, "mapop--onCameraChangeFinish-: " + cameraPosition + "cost:" + (System.currentTimeMillis() - startTime));
-        if (cameraPosition != null) {
-            Trace.beginSection("timer.onCameraChangeFinish");
-            MogoMapListenerHandler.getInstance().onMapChanged(ObjectUtils.fromAMap(cameraPosition.getTarget()),
+    public void onCameraChangeFinish( @Nullable CameraPosition cameraPosition ) {
+        Logger.i( TAG, "mapop--onCameraChangeFinish-: " + cameraPosition + "cost:" + ( System.currentTimeMillis() - startTime ) );
+        if ( cameraPosition != null ) {
+            Trace.beginSection( "timer.onCameraChangeFinish" );
+            MogoMapListenerHandler.getInstance().onMapChanged( ObjectUtils.fromAMap( cameraPosition.getTarget() ),
                     cameraPosition.getZoom(),
                     cameraPosition.getTilt(),
-                    cameraPosition.getBearing());
+                    cameraPosition.getBearing() );
             Trace.endSection();
         }
     }
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapView.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapView.java
index 2a3d8d24ff..9e8c503db9 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapView.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapView.java
@@ -23,12 +23,12 @@ public class CustomMapView implements IMogoMapViewCreator {
 
     @Override
     public IMogoMapView create( Context context ) {
-        MapAutoApi.INSTANCE.init( context, MapParams.Companion.init().setDebugMode( false )
+        MapAutoApi.INSTANCE.init( context, MapParams.Companion.init().setDebugMode( true )
                 .setCoordinateType( MapParams.COORDINATETYPE_GCJ02 )
                 .setPerspectiveMode( MapParams.MAP_PERSPECTIVE_2D )
                 .setZoom( 16 )
                 .setPointToCenter( 0.5f, 0.5f )
-                .setStyleMode( MapParams.MAP_STYLE_NIGHT ) );
+                .setStyleMode( MapParams.MAP_STYLE_VR ) );
         MapAutoView mapAutoView = new MapAutoView( context );
         mapView = new AMapViewWrapper( mapAutoView );
         return mapView;
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/EnumMapUI.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/EnumMapUI.java
index bae12fe5a7..14bbb7bc52 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/EnumMapUI.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/EnumMapUI.java
@@ -35,7 +35,12 @@ public enum EnumMapUI {
     /**
      * 夜晚模式
      */
-    Type_AUTO_LIGHT_Night( 5, 3 );
+    Type_AUTO_LIGHT_Night( 5, 3 ),
+
+    /**
+     * 自研地图的VR模式
+     */
+    Type_VR( 0, 0 );
 
     private int next;
     private int code;
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java
index 9c9ecbad4e..0481f19c4a 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java
@@ -21,9 +21,9 @@ public class CloudRoadData implements Parcelable {
     private long systemTime;
 
     /**红绿灯状态 1红 2绿 3黄*/
-    private Integer lightStatus;//
+    private int lightStatus;//
     /**红绿灯剩余时间 读秒*/
-    private Integer lightLeftTime;
+    private int lightLeftTime;
     /**视频流直播地址*/
     private String rtmpUrl;//
 
@@ -31,22 +31,15 @@ public class CloudRoadData implements Parcelable {
 
     public List<CloudLocationInfo> coordinates;
 
+
     protected CloudRoadData(Parcel in) {
         type = in.readInt();
         lat = in.readDouble();
         lon = in.readDouble();
         speed = in.readDouble();
         systemTime = in.readLong();
-        if (in.readByte() == 0) {
-            lightStatus = null;
-        } else {
-            lightStatus = in.readInt();
-        }
-        if (in.readByte() == 0) {
-            lightLeftTime = null;
-        } else {
-            lightLeftTime = in.readInt();
-        }
+        lightStatus = in.readInt();
+        lightLeftTime = in.readInt();
         rtmpUrl = in.readString();
         distance = in.readDouble();
         coordinates = in.createTypedArrayList(CloudLocationInfo.CREATOR);
@@ -59,18 +52,8 @@ public class CloudRoadData implements Parcelable {
         dest.writeDouble(lon);
         dest.writeDouble(speed);
         dest.writeLong(systemTime);
-        if (lightStatus == null) {
-            dest.writeByte((byte) 0);
-        } else {
-            dest.writeByte((byte) 1);
-            dest.writeInt(lightStatus);
-        }
-        if (lightLeftTime == null) {
-            dest.writeByte((byte) 0);
-        } else {
-            dest.writeByte((byte) 1);
-            dest.writeInt(lightLeftTime);
-        }
+        dest.writeInt(lightStatus);
+        dest.writeInt(lightLeftTime);
         dest.writeString(rtmpUrl);
         dest.writeDouble(distance);
         dest.writeTypedList(coordinates);
@@ -92,4 +75,84 @@ public class CloudRoadData implements Parcelable {
             return new CloudRoadData[size];
         }
     };
+
+    public int getType() {
+        return type;
+    }
+
+    public void setType(int type) {
+        this.type = type;
+    }
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat(double lat) {
+        this.lat = lat;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon(double lon) {
+        this.lon = lon;
+    }
+
+    public double getSpeed() {
+        return speed;
+    }
+
+    public void setSpeed(double speed) {
+        this.speed = speed;
+    }
+
+    public long getSystemTime() {
+        return systemTime;
+    }
+
+    public void setSystemTime(long systemTime) {
+        this.systemTime = systemTime;
+    }
+
+    public int getLightStatus() {
+        return lightStatus;
+    }
+
+    public void setLightStatus(int lightStatus) {
+        this.lightStatus = lightStatus;
+    }
+
+    public int getLightLeftTime() {
+        return lightLeftTime;
+    }
+
+    public void setLightLeftTime(int lightLeftTime) {
+        this.lightLeftTime = lightLeftTime;
+    }
+
+    public String getRtmpUrl() {
+        return rtmpUrl;
+    }
+
+    public void setRtmpUrl(String rtmpUrl) {
+        this.rtmpUrl = rtmpUrl;
+    }
+
+    public double getDistance() {
+        return distance;
+    }
+
+    public void setDistance(double distance) {
+        this.distance = distance;
+    }
+
+    public List<CloudLocationInfo> getCoordinates() {
+        return coordinates;
+    }
+
+    public void setCoordinates(List<CloudLocationInfo> coordinates) {
+        this.coordinates = coordinates;
+    }
 }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/MogoSnapshotSetData.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/MogoSnapshotSetData.java
index 11acfdbe96..2fef42f58c 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/MogoSnapshotSetData.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/MogoSnapshotSetData.java
@@ -16,10 +16,10 @@ class MogoSnapshotSetData implements Parcelable {
 
     private String msgId;
 
-    private Long time;
+    private long time;
 
     //过期时间
-    private Long expire;
+    private long expire;
 
     //总数据集合
     private List<CloudRoadData> allList;
@@ -30,16 +30,8 @@ class MogoSnapshotSetData implements Parcelable {
 
     protected MogoSnapshotSetData(Parcel in) {
         msgId = in.readString();
-        if (in.readByte() == 0) {
-            time = null;
-        } else {
-            time = in.readLong();
-        }
-        if (in.readByte() == 0) {
-            expire = null;
-        } else {
-            expire = in.readLong();
-        }
+        time = in.readLong();
+        expire = in.readLong();
         allList = in.createTypedArrayList(CloudRoadData.CREATOR);
         trafficLight = in.readParcelable(CloudRoadData.class.getClassLoader());
     }
@@ -47,18 +39,8 @@ class MogoSnapshotSetData implements Parcelable {
     @Override
     public void writeToParcel(Parcel dest, int flags) {
         dest.writeString(msgId);
-        if (time == null) {
-            dest.writeByte((byte) 0);
-        } else {
-            dest.writeByte((byte) 1);
-            dest.writeLong(time);
-        }
-        if (expire == null) {
-            dest.writeByte((byte) 0);
-        } else {
-            dest.writeByte((byte) 1);
-            dest.writeLong(expire);
-        }
+        dest.writeLong(time);
+        dest.writeLong(expire);
         dest.writeTypedList(allList);
         dest.writeParcelable(trafficLight, flags);
     }
@@ -90,4 +72,44 @@ class MogoSnapshotSetData implements Parcelable {
                 ", trafficLight=" + trafficLight +
                 '}';
     }
+
+    public String getMsgId() {
+        return msgId;
+    }
+
+    public void setMsgId(String msgId) {
+        this.msgId = msgId;
+    }
+
+    public long getTime() {
+        return time;
+    }
+
+    public void setTime(long time) {
+        this.time = time;
+    }
+
+    public long getExpire() {
+        return expire;
+    }
+
+    public void setExpire(long expire) {
+        this.expire = expire;
+    }
+
+    public List<CloudRoadData> getAllList() {
+        return allList;
+    }
+
+    public void setAllList(List<CloudRoadData> allList) {
+        this.allList = allList;
+    }
+
+    public CloudRoadData getTrafficLight() {
+        return trafficLight;
+    }
+
+    public void setTrafficLight(CloudRoadData trafficLight) {
+        this.trafficLight = trafficLight;
+    }
 }
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java
index c3b9b78e28..6cf28e9879 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java
@@ -12,6 +12,7 @@ import android.widget.TextView;
 import com.mogo.map.location.IMogoLocationListener;
 import com.mogo.map.location.MogoLocation;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.entity.CloudRoadData;
 import com.mogo.module.common.entity.MogoSnapshotSetData;
 import com.mogo.module.extensions.R;
 import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
@@ -94,10 +95,7 @@ public class AdasNoticeHelper implements IMogoAdasWarnMessageCallback, IMogoLoca
         if (!isVrMode) {
             return;
         }
-        // 处理adas识别的时间，主要是行人碰撞预警
-        if (msg.type == MogoADASWarnType.ADAS_WARNING_PERSON) {
-            MogoApisHandler.getInstance().getApis().getEntranceButtonController().showLeftNoticeByType(IMogoEntranceButtonController.NOTICE_TYPE_PEOPLE_WARN, R.drawable.module_ext_people_warn, "前方注意行人");
-        }
+
         if (msg.type == MogoADASWarnType.ADAS_WARNING_LIMIT_SPEED) {
             // 收到限速信息，更新界面
             if (tvLimitSpeed != null) {
@@ -164,13 +162,6 @@ public class AdasNoticeHelper implements IMogoAdasWarnMessageCallback, IMogoLoca
             if (!isVrMode) {
                 return;
             }
-            // todo 处理发给adas的事件, 主要处理逆向超车和obu行人碰撞
-            String id = intent.getStringExtra("v2x_warning_type");
-            if (id != null) {
-                if ("100003".equals(id)) {// 行人碰撞
-                    MogoApisHandler.getInstance().getApis().getEntranceButtonController().showLeftNoticeByType(IMogoEntranceButtonController.NOTICE_TYPE_PEOPLE_WARN, R.drawable.module_ext_people_warn, "前方注意行人");
-                }
-            }
 
             int type = intent.getIntExtra("type", -1);
             if (type == 2) {
@@ -204,10 +195,11 @@ public class AdasNoticeHelper implements IMogoAdasWarnMessageCallback, IMogoLoca
         }
     }
 
-    private void handleCloudTrafficLight(){
+    private void handleCloudTrafficLight(CloudRoadData roadData){
         if (tvTrafficLight != null && !handler.hasMessages(MSG_HIDE_TRAFFIC_LIGHT_BY_OBU)) {
             handler.removeMessages(MSG_HIDE_TRAFFIC_LIGHT_BY_CLOUD);
             // todo drawTrafficLight
+
             handler.sendEmptyMessageDelayed(MSG_HIDE_TRAFFIC_LIGHT_BY_CLOUD,
                     HIDE_TRAFFIC_LIGHT_DELAY);
         }
@@ -243,5 +235,10 @@ public class AdasNoticeHelper implements IMogoAdasWarnMessageCallback, IMogoLoca
     @Override
     public void onMsgReceived(MogoSnapshotSetData obj) {
         Logger.d(TAG, "收到大而全数据: " + obj);
+        CloudRoadData roadData = obj.getTrafficLight();
+        if (roadData != null) {
+            Logger.d(TAG, "收到红绿灯数据");
+            handleCloudTrafficLight(roadData);
+        }
     }
 }
diff --git a/modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java b/modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java
index 90d660b0a3..32b651a8a5 100644
--- a/modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java
+++ b/modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java
@@ -72,13 +72,13 @@ public class MapFragment extends MvpFragment< MapView, MapPresenter > implements
         }
         mMogoMapView.displayVRMap( mIsFirstLoadCustomMap, true );
         if ( mIsFirstLoadCustomMap ) {
-            initMapView();
-            mMogoMap = mMogoMapView.getMap();
-            if ( mMogoMap.getUIController() != null ) {
-                mMogoMap.getUIController().showMyLocation( true );
-                mMogoMap.getUIController().recoverLockMode();// 启动锁车
-            }
-            mIsFirstLoadCustomMap = false;
+//            initMapView();
+//            mMogoMap = mMogoMapView.getMap();
+//            if ( mMogoMap.getUIController() != null ) {
+//                mMogoMap.getUIController().showMyLocation( true );
+//                mMogoMap.getUIController().recoverLockMode();// 启动锁车
+//            }
+//            mIsFirstLoadCustomMap = false;
         }
         afterMapModeChanged();
         MogoApisHandler.getInstance().getApis().getAdasControllerApi().closeADAS();
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
index dc4f7a0a21..d52be7d4d9 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
@@ -159,6 +159,13 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
 
                     }
                 } );
+        MarkerServiceHandler.getApis().getAdasControllerApi().addAdasRecognizedDataCallback( resultList -> {
+            if ( resultList == null || resultList.isEmpty() ) {
+                return;
+            }
+            // 绘制近景识别到的车辆，每秒绘制一次
+        } );
+
     }
 
     /**
diff --git a/modules/mogo-modules-mvision/src/main/java/com/mogo/module/machine/vision/MachineVisionMapViewHandler.java b/modules/mogo-modules-mvision/src/main/java/com/mogo/module/machine/vision/MachineVisionMapViewHandler.java
index a551e7f172..79b92faa31 100644
--- a/modules/mogo-modules-mvision/src/main/java/com/mogo/module/machine/vision/MachineVisionMapViewHandler.java
+++ b/modules/mogo-modules-mvision/src/main/java/com/mogo/module/machine/vision/MachineVisionMapViewHandler.java
@@ -44,6 +44,11 @@ class MachineVisionMapViewHandler {
     }
 
     public void renderSnapshotSetData( MogoSnapshotSetData data ) {
-        
+        if ( data == null ) {
+            return;
+        }
+        if ( mMachineVisionMapView == null ) {
+            return;
+        }
     }
 }
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
index 16dbcb59ca..4d4bfc61dd 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
@@ -114,4 +114,18 @@ public interface IMogoADASController extends IProvider {
      * @return
      */
     List< ADASRecognizedResult > getLastADASRecognizedResult();
+
+    /**
+     * 添加adas识别物体回调
+     *
+     * @param callback
+     */
+    void addAdasRecognizedDataCallback( IMogoAdasRecognizedDataCallback callback );
+
+    /**
+     * 移除adas识别物体回调
+     *
+     * @param callback
+     */
+    void removeAdasRecognizedDataCallback( IMogoAdasRecognizedDataCallback callback );
 }
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
index 49c32d34f9..301b94d0fc 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
@@ -1,5 +1,10 @@
 package com.mogo.service.adas;
 
+import com.mogo.service.adas.entity.ADASRecognizedListResult;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
+
+import java.util.List;
+
 /**
  * adas 物体识别数据回调接口
  *
@@ -8,7 +13,8 @@ package com.mogo.service.adas;
 public interface IMogoAdasRecognizedDataCallback {
     /**
      * adas 数据回调
-     * @param msg 具体数据
+     *
+     * @param resultList 具体识别的物体数据
      */
-    void onAdasDataCallback( String msg );
+    void onAdasDataCallback( List< ADASRecognizedListResult > resultList );
 }
\ No newline at end of file
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java
new file mode 100644
index 0000000000..df8da8f28e
--- /dev/null
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java
@@ -0,0 +1,29 @@
+package com.mogo.service.adas.entity;
+
+import java.util.List;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/10/25
+ *
+ * adas 识别物体参数
+ */
+class ADASRecognizedListResult {
+
+    public int type;
+    public String uuid;
+    public double heading;
+    public double speed;
+    public List< LatLon > latLonList;
+
+    public static class LatLon {
+        public LatLon( double lat, double lon ) {
+            this.lat = lat;
+            this.lon = lon;
+        }
+
+        public double lat;
+        public double lon;
+    }
+}
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
index 066d36a29d..834da1a61b 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
@@ -1,13 +1,17 @@
 package com.mogo.service.impl.adas;
 
 import com.mogo.commons.utils.MortonCode;
+import com.mogo.service.adas.entity.ADASRecognizedListResult;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.adas.entity.ADASWarnMessage;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 
 import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.Iterator;
 import java.util.List;
+import java.util.Map;
 
 public
 /**
@@ -74,4 +78,36 @@ class AdasObjectUtils {
         result.mortonCode = MortonCode.wrapEncodeMorton( result.lon, result.lat );
         return result;
     }
+
+    public static List< ADASRecognizedListResult > regroupData( List< RectInfo > datums ) {
+        if ( datums == null || datums.isEmpty() ) {
+            return null;
+        }
+        Map< String, ADASRecognizedListResult > result = new HashMap<>();
+        for ( RectInfo rectInfo : datums ) {
+            if ( rectInfo == null || rectInfo.getModels() == null || rectInfo.getModels().isEmpty() ) {
+                continue;
+            }
+            List< RectInfo.RectBean > models = rectInfo.getModels();
+            for ( RectInfo.RectBean model : models ) {
+                ADASRecognizedListResult recognizedListResult = null;
+                if ( !result.containsKey( model.getUuid() ) ) {
+                    recognizedListResult = new ADASRecognizedListResult();
+                    recognizedListResult.latLonList = new ArrayList<>();
+                    recognizedListResult.heading = model.getHeading();
+                    recognizedListResult.speed = model.getSpeed();
+                    recognizedListResult.type = Integer.valueOf( model.getType() );
+                    recognizedListResult.uuid = model.getUuid();
+                    result.put( model.getUuid(), recognizedListResult );
+                } else {
+                    recognizedListResult = result.get( model.getUuid() );
+                }
+                recognizedListResult.latLonList.add( new ADASRecognizedListResult.LatLon( model.getLat(), model.getLon() ) );
+            }
+        }
+        if ( result.isEmpty() ) {
+            return null;
+        }
+        return new ArrayList<>( result.values() );
+    }
 }
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index abd9f7838a..50630feca6 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -14,8 +14,10 @@ import com.mogo.module.common.utils.CarSeries;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.service.adas.IMogoADASController;
 import com.mogo.service.adas.IMogoAdasDataCallback;
+import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
 import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
 import com.mogo.service.adas.RemoteControlAutoPilotParameters;
+import com.mogo.service.adas.entity.ADASRecognizedListResult;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.adas.entity.ADASWarnMessage;
 import com.mogo.service.impl.singleton.SingletonsHolder;
@@ -81,6 +83,10 @@ public class MogoADASController implements IMogoADASController {
      */
     private List< IMogoAdasWarnMessageCallback > mMogoAdasWarnMessageCallbackList = new CopyOnWriteArrayList<>();
 
+    /**
+     * adas 识别物体回调
+     */
+    private List< IMogoAdasRecognizedDataCallback > mMogoAdasRecognizedDataCallbacks = new CopyOnWriteArrayList<>();
 
     private RectInfo mLastFrameData;
 
@@ -91,6 +97,7 @@ public class MogoADASController implements IMogoADASController {
             // 物体识别返回
             Logger.d( TAG, "onRectData = %s", rectInfo.toString() );
             mLastFrameData = rectInfo;
+            handleAdasRecognizedData( rectInfo );
         }
 
         @Override
@@ -119,6 +126,53 @@ public class MogoADASController implements IMogoADASController {
         }
     };
 
+    private long mLastRecordSeconds = 0L;
+
+
+    /**
+     * 缓存容器
+     */
+    List< RectInfo > mCacheRecognizedDataSet = new ArrayList<>();
+
+    /**
+     * 处理数据，将识别到的物体分组，然后每1s进行一次回调
+     * 时间:系统时间
+     *
+     * @param rectInfo
+     */
+    private void handleAdasRecognizedData( RectInfo rectInfo ) {
+        if ( rectInfo == null
+                || rectInfo.getModels() == null
+                || rectInfo.getModels().isEmpty() ) {
+            return;
+        }
+        long curTime = System.currentTimeMillis() / 1000;
+        if ( mLastRecordSeconds == 0L ) {
+            mLastRecordSeconds = curTime;
+        }
+        if ( mLastRecordSeconds != curTime ) {
+            invokeCallbackPerSecond( mCacheRecognizedDataSet );
+            mCacheRecognizedDataSet = new ArrayList<>();
+        }
+        mCacheRecognizedDataSet.add( rectInfo );
+    }
+
+    private void invokeCallbackPerSecond( List< RectInfo > data ) {
+        List< RectInfo > newRef = data;
+        List< ADASRecognizedListResult > recognizedListResults = AdasObjectUtils.regroupData( newRef );
+        if ( recognizedListResults == null || recognizedListResults.isEmpty() ) {
+            return;
+        }
+        if ( !mMogoAdasRecognizedDataCallbacks.isEmpty() ) {
+            for ( IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks ) {
+                if ( callback == null ) {
+                    continue;
+                }
+                callback.onAdasDataCallback( recognizedListResults );
+            }
+        }
+    }
+
     private MyMessageFactory mAdasMessageFactory;
     private IAutopolitDataCallBack mAutoPilotDataCallBack = new IAutopolitDataCallBack() {
         @Override
@@ -376,4 +430,22 @@ public class MogoADASController implements IMogoADASController {
         List< ADASRecognizedResult > recognizedResultList = AdasObjectUtils.fromAdasObject( rectInfo );
         return recognizedResultList;
     }
+
+    @Override
+    public void addAdasRecognizedDataCallback( IMogoAdasRecognizedDataCallback callback ) {
+        if ( callback == null ) {
+            return;
+        }
+        if ( !mMogoAdasRecognizedDataCallbacks.contains( callback ) ) {
+            mMogoAdasRecognizedDataCallbacks.add( callback );
+        }
+    }
+
+    @Override
+    public void removeAdasRecognizedDataCallback( IMogoAdasRecognizedDataCallback callback ) {
+        if ( callback == null ) {
+            return;
+        }
+        mMogoAdasRecognizedDataCallbacks.remove( callback );
+    }
 }