diff --git a/foudations/mogo-commons/build.gradle b/foudations/mogo-commons/build.gradle
index 790d2b2598..7f4fbc1edc 100644
--- a/foudations/mogo-commons/build.gradle
+++ b/foudations/mogo-commons/build.gradle
@@ -42,6 +42,8 @@ dependencies {
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
     implementation rootProject.ext.dependencies.rxjava
     implementation rootProject.ext.dependencies.accountsdk
+    api rootProject.ext.dependencies.mogoaicloudrealtime
+
     if (Boolean.valueOf(RELEASE)) {
         implementation rootProject.ext.dependencies.mogoutils
         api rootProject.ext.dependencies.ttsbase
diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/data/ADASRecognizedResultConvert.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/data/ADASRecognizedResultConvert.java
deleted file mode 100644
index 8f95af1893..0000000000
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/data/ADASRecognizedResultConvert.java
+++ /dev/null
@@ -1,107 +0,0 @@
-package com.mogo.commons.data;
-
-/**
- * @author lixiaopeng
- * @description adas识别数据需要转换一下
- * @since 2021/4/23
- */
-public class ADASRecognizedResultConvert {
-
-    /**
-     * 识别物体类型
-     */
-    public int type;
-
-    /**
-     * 识别物体唯一标识
-     */
-    public String uuid;
-
-    /**
-     * 红绿灯颜色
-     */
-    public String color;
-
-    /**
-     * 车ID
-     */
-    public String carId;
-
-    /**
-     * 识别物体的纬度
-     */
-    public double lat;
-
-    /**
-     * 识别物体的经度
-     */
-    public double lon;
-
-    /**
-     * 车头朝向
-     */
-    public double heading;
-
-    /**
-     * 系统时间
-     */
-    public long systemTime;
-
-    /**
-     * 定位卫星时间
-     */
-    public long satelliteTime;
-
-    /**
-     * 海拔
-     */
-    public double alt;
-
-    /**
-     * 速度
-     */
-    public double speed;
-
-    /**
-     * 莫顿码
-     */
-    public long mortonCode;
-
-    /**
-     * 实际距离
-     * 使用distanceX和distanceY计算
-     */
-    public double distance;
-
-    /**
-     * 数据来源精度
-     * 0：普通定位
-     * 1：高精定位
-     */
-    public int dataAccuracy;
-
-    /**
-     * 道路ID
-     */
-    private String roadId;
-
-    /**
-     * 车道ID-2D路段
-     */
-    private String laneId;
-
-    /**
-     * 车道号：中心线编号为0，中心线右侧编号为负数，3车道通行Road的车道编号，0，-1，-2，-3
-     */
-    private int laneNum;
-
-    /**
-     * 限速
-     */
-    private double rateLimiting;
-
-    /**
-     * 车道宽度
-     */
-    private double roadWidth;
-}
diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
index 1713f11156..66e764dab9 100644
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
@@ -1,7 +1,5 @@
 package com.mogo.commons.debug;
 
-import android.text.TextUtils;
-
 /**
  * @author congtaowang
  * @since 2019-12-23
@@ -28,7 +26,7 @@ public class DebugConfig {
      *
      * @param sDebug true - 调试模式 false - 非调试模式
      */
-    public static void setDebug( boolean sDebug ) {
+    public static void setDebug(boolean sDebug) {
         DebugConfig.sDebug = sDebug;
     }
 
@@ -69,7 +67,7 @@ public class DebugConfig {
      */
     public static final int AI_TYPE_SPEECH = 2;
 
-    private static int sAIType = AI_TYPE_TXZ;
+    private static final int sAIType = AI_TYPE_TXZ;
 
     /**
      * 自研车机
@@ -116,7 +114,7 @@ public class DebugConfig {
      *                {@link #NET_MODE_DEMO}
      *                {@link #NET_MODE_RELEASE}
      */
-    public static void setNetMode( int netMode ) {
+    public static void setNetMode(int netMode) {
         DebugConfig.sNetMode = netMode;
     }
 
@@ -129,7 +127,7 @@ public class DebugConfig {
         return sLaunchLocationService;
     }
 
-    public static void setLaunchLocationService( boolean launchLocationService ) {
+    public static void setLaunchLocationService(boolean launchLocationService) {
         DebugConfig.sLaunchLocationService = launchLocationService;
     }
 
@@ -142,7 +140,7 @@ public class DebugConfig {
         return sUseCustomNavi;
     }
 
-    public static void setUseCustomNavi( boolean sUseCustomNavi ) {
+    public static void setUseCustomNavi(boolean sUseCustomNavi) {
         DebugConfig.sUseCustomNavi = sUseCustomNavi;
     }
 
@@ -151,7 +149,7 @@ public class DebugConfig {
      *
      * @param type {@link #CAR_MACHINE_TYPE_SELF_INNOVATE} {@link #CAR_MACHINE_TYPE_BYD}
      */
-    public static void setCarMachineType( int type ) {
+    public static void setCarMachineType(int type) {
         sCarMachineType = type;
     }
 
@@ -173,7 +171,7 @@ public class DebugConfig {
         return sIsLauncher;
     }
 
-    public static void setLauncher( boolean isLauncher ) {
+    public static void setLauncher(boolean isLauncher) {
         DebugConfig.sIsLauncher = isLauncher;
     }
 
@@ -183,7 +181,7 @@ public class DebugConfig {
         return sRequestOnlineCarData;
     }
 
-    public static void setRequestOnlineCarData( boolean sRequestOnlineCarData ) {
+    public static void setRequestOnlineCarData(boolean sRequestOnlineCarData) {
         DebugConfig.sRequestOnlineCarData = sRequestOnlineCarData;
     }
 
@@ -193,7 +191,7 @@ public class DebugConfig {
         return sUseCustomMap;
     }
 
-    public static void setUseCustomMap( boolean sUseCustomMap ) {
+    public static void setUseCustomMap(boolean sUseCustomMap) {
         DebugConfig.sUseCustomMap = sUseCustomMap;
     }
 
@@ -206,13 +204,13 @@ public class DebugConfig {
         return sActiveAIAssistFlag;
     }
 
-    public static void setActiveAIAssistFlag( boolean sActiveAIAssistFlag ) {
+    public static void setActiveAIAssistFlag(boolean sActiveAIAssistFlag) {
         DebugConfig.sActiveAIAssistFlag = sActiveAIAssistFlag;
     }
 
     private static boolean useMockObuData;
 
-    public static void setUseMockObuData( boolean use ) {
+    public static void setUseMockObuData(boolean use) {
         useMockObuData = use;
     }
 
@@ -231,13 +229,13 @@ public class DebugConfig {
      *
      * @param sProductFlavor
      */
-    public static void setProductFlavor( String sProductFlavor ) {
+    public static void setProductFlavor(String sProductFlavor) {
         DebugConfig.sProductFlavor = sProductFlavor;
     }
 
     private static String sSocketAppId;
 
-    public static void setSocketAppId( String sSocketAppId ) {
+    public static void setSocketAppId(String sSocketAppId) {
         DebugConfig.sSocketAppId = sSocketAppId;
     }
 
@@ -254,14 +252,14 @@ public class DebugConfig {
         return sRoadEventAnimated;
     }
 
-    public static void setRoadEventAnimated( boolean sRoadEventAnimated ) {
+    public static void setRoadEventAnimated(boolean sRoadEventAnimated) {
         DebugConfig.sRoadEventAnimated = sRoadEventAnimated;
     }
 
 
     private static boolean sLoadGuideModule = false;
 
-    public static void setLoadGuideModule( boolean sLoadGuideModule ) {
+    public static void setLoadGuideModule(boolean sLoadGuideModule) {
         DebugConfig.sLoadGuideModule = sLoadGuideModule;
     }
 
@@ -277,7 +275,7 @@ public class DebugConfig {
 
     private static boolean isSkinSupported = false;
 
-    public static void setSkinSupported( boolean isSkinSupported ) {
+    public static void setSkinSupported(boolean isSkinSupported) {
         DebugConfig.isSkinSupported = isSkinSupported;
     }
 
@@ -290,7 +288,7 @@ public class DebugConfig {
      */
     private static boolean isSupportedSearchDestinationOnlineCarList = false;
 
-    public static void setSupportedSearchDestinationOnlineCarList( boolean isSupportedSearchDestinationOnlineCarList ) {
+    public static void setSupportedSearchDestinationOnlineCarList(boolean isSupportedSearchDestinationOnlineCarList) {
         DebugConfig.isSupportedSearchDestinationOnlineCarList = isSupportedSearchDestinationOnlineCarList;
     }
 
@@ -303,7 +301,7 @@ public class DebugConfig {
      */
     private static boolean isScheduleCalculateNotHomeCompanyDistanceForPush = false;
 
-    public static void setScheduleCalculateNotHomeCompanyDistanceForPush( boolean isScheduleCalculateNotHomeCompanyDistanceForPush ) {
+    public static void setScheduleCalculateNotHomeCompanyDistanceForPush(boolean isScheduleCalculateNotHomeCompanyDistanceForPush) {
         DebugConfig.isScheduleCalculateNotHomeCompanyDistanceForPush = isScheduleCalculateNotHomeCompanyDistanceForPush;
     }
 
@@ -316,7 +314,7 @@ public class DebugConfig {
      */
     private static boolean isSupportLauncherCardRefreshStrategy = false;
 
-    public static void setSupportLauncherCardRefreshStrategy( boolean isSupportLauncherCardRefreshStrategy ) {
+    public static void setSupportLauncherCardRefreshStrategy(boolean isSupportLauncherCardRefreshStrategy) {
         DebugConfig.isSupportLauncherCardRefreshStrategy = isSupportLauncherCardRefreshStrategy;
     }
 
@@ -330,7 +328,7 @@ public class DebugConfig {
         return obuType;
     }
 
-    public static void setObuType( int type ) {
+    public static void setObuType(int type) {
         obuType = type;
     }
 
@@ -339,7 +337,7 @@ public class DebugConfig {
      */
     private static boolean needRequestUserInfo = false;
 
-    public static void setNeedRequestUserInfo( boolean needRequestUserInfo ) {
+    public static void setNeedRequestUserInfo(boolean needRequestUserInfo) {
         DebugConfig.needRequestUserInfo = needRequestUserInfo;
     }
 
@@ -356,13 +354,13 @@ public class DebugConfig {
         return isMapBased;
     }
 
-    public static void setMapBased( boolean isMapBased ) {
+    public static void setMapBased(boolean isMapBased) {
         DebugConfig.isMapBased = isMapBased;
     }
 
     private static boolean isNeedLoadGuideModule = true;
 
-    public static void setNeedLoadGuideModule( boolean isNeedLoadGuideModule ) {
+    public static void setNeedLoadGuideModule(boolean isNeedLoadGuideModule) {
         DebugConfig.isNeedLoadGuideModule = isNeedLoadGuideModule;
     }
 
@@ -376,7 +374,7 @@ public class DebugConfig {
         return isNeedHideAdasWhenShare;
     }
 
-    public static void setNeedHideAdasWhenShare( boolean isNeedHideAdas ) {
+    public static void setNeedHideAdasWhenShare(boolean isNeedHideAdas) {
         DebugConfig.isNeedHideAdasWhenShare = isNeedHideAdas;
     }
 
@@ -389,7 +387,7 @@ public class DebugConfig {
         return sIsNeedUploadCoordinatesInTime;
     }
 
-    public static void setNeedUploadCoordinatesInTime( boolean sIsNeedUploadCoordinatesInTime ) {
+    public static void setNeedUploadCoordinatesInTime(boolean sIsNeedUploadCoordinatesInTime) {
         DebugConfig.sIsNeedUploadCoordinatesInTime = sIsNeedUploadCoordinatesInTime;
     }
 
@@ -402,7 +400,7 @@ public class DebugConfig {
         return sIsUseAdasRtkLocationInfo;
     }
 
-    public static void setUseAdasRtkLocationInfo( boolean sIsUseAdasRtkLocationInfo ) {
+    public static void setUseAdasRtkLocationInfo(boolean sIsUseAdasRtkLocationInfo) {
         DebugConfig.sIsUseAdasRtkLocationInfo = sIsUseAdasRtkLocationInfo;
     }
 
@@ -412,17 +410,17 @@ public class DebugConfig {
         return sIsNotSmooth;
     }
 
-    public static void setNotSmooth( boolean sIsNotSmooth ) {
+    public static void setNotSmooth(boolean sIsNotSmooth) {
         DebugConfig.sIsNotSmooth = sIsNotSmooth;
     }
 
     public static boolean isOCHModule() {
-        return sProductFlavor != null && sProductFlavor.startsWith( "foch" );
+        return sProductFlavor != null && sProductFlavor.startsWith("foch");
     }
 
     public static int sSelfCarSpeedYOffset = 20;
 
-    public static void setSelfCarSpeedYOffset( int sSelfCarSpeedYOffset ) {
+    public static void setSelfCarSpeedYOffset(int sSelfCarSpeedYOffset) {
         DebugConfig.sSelfCarSpeedYOffset = sSelfCarSpeedYOffset;
     }
 
@@ -436,20 +434,28 @@ public class DebugConfig {
     public static final int sDownloadSnapshot = 2;
     public static final int sAutoPilotStatus = 3;
     public static final int sDownloadLink = 4;
+    public static final int sLon = 5;
+    public static final int sLat = 6;
 
     public static String[] sStatus = new String[]{
             "false",
             "false",
             "false",
             "0",
-            "false"
+            "false",
+            "0",
+            "0"
     };
 
-    public synchronized static void setStatus( int type, boolean status ) {
-        sStatus[type] = String.valueOf( status );
+    public synchronized static void setStatus(int type, boolean status) {
+        sStatus[type] = String.valueOf(status);
     }
 
-    public synchronized static void setAutoPilotStatus( String status ) {
+    public synchronized static void setStatusData(int type, double data) {
+        sStatus[type] = String.valueOf(data);
+    }
+
+    public synchronized static void setAutoPilotStatus(String status) {
         sStatus[sAutoPilotStatus] = status;
     }
 
@@ -457,13 +463,21 @@ public class DebugConfig {
         return sStatus[sAutoPilotStatus];
     }
 
-    public synchronized static String getStatus( int type, boolean set2False ) {
+    public synchronized static String getStatus(int type, boolean set2False) {
         String result = sStatus[type];
-        if ( set2False ) {
+        if (set2False) {
             sStatus[type] = "false";
         }
         return result;
     }
+    
+    public synchronized static String getStatusData(int type){
+        if(type > 4){
+            return sStatus[type].toString();
+        }else{
+            return "0";
+        }
+    }
 
     private static boolean isUseAdasRecognize = true;
 
@@ -471,7 +485,7 @@ public class DebugConfig {
         isUseAdasRecognize = status;
     }
 
-    public static boolean isUseAdasRecognize(){
+    public static boolean isUseAdasRecognize() {
         return isUseAdasRecognize;
     }
 }
diff --git a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapNaviViewWrapper.java b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapNaviViewWrapper.java
index a613ac51e8..353a895fcb 100644
--- a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapNaviViewWrapper.java
+++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapNaviViewWrapper.java
@@ -50,6 +50,7 @@ import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
+import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.WindowUtils;
 import com.mogo.utils.logger.Logger;
 
@@ -1044,7 +1045,7 @@ public class AMapNaviViewWrapper implements IMogoMapView,
     }
 
     @Override
-    public void setAdasRecognizedResult(String result) {
-        //liyz
+    public void setAdasRecognizedResult(ADASRecognizedResult result) {
+
     }
 }
diff --git a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapViewWrapper.java b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapViewWrapper.java
index 57c8ca3287..827d11b6e0 100644
--- a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapViewWrapper.java
+++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapViewWrapper.java
@@ -47,6 +47,7 @@ import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
+import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.NetworkUtils;
 import com.mogo.utils.WindowUtils;
 import com.mogo.utils.logger.Logger;
@@ -817,7 +818,7 @@ public class AMapViewWrapper implements IMogoMapView,
     }
 
     @Override
-    public void setAdasRecognizedResult(String result) {
-        //liyz
+    public void setAdasRecognizedResult(ADASRecognizedResult result) {
+
     }
 }
diff --git a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/uicontroller/AMapUIController.java b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/uicontroller/AMapUIController.java
index a3736b90b5..27daabc64b 100644
--- a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/uicontroller/AMapUIController.java
+++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/uicontroller/AMapUIController.java
@@ -14,6 +14,7 @@ import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
+import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.logger.Logger;
 
 import java.util.List;
@@ -300,7 +301,7 @@ public class AMapUIController implements IMogoMapUIController {
     }
 
     @Override
-    public void setAdasRecognizedResult(String result) {
+    public void setAdasRecognizedResult(ADASRecognizedResult result) {
         if ( mClient != null ) {
             mClient.setAdasRecognizedResult(result);
         }
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 3ed503ae0f..8b0023dcf1 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
@@ -16,8 +16,6 @@ import android.view.ViewGroup;
 import android.view.animation.Interpolator;
 import android.widget.TextView;
 
-import com.autonavi.nge.map.LonLat;
-import com.mogo.commons.data.ADASRecognizedResultConvert;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.map.IMogoMap;
 import com.mogo.map.IMogoMapView;
@@ -35,6 +33,7 @@ import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
+import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.TipToast;
 import com.mogo.utils.UiThreadHandler;
 import com.mogo.utils.WorkThreadHandler;
@@ -288,15 +287,6 @@ public class AMapViewWrapper implements IMogoMapView,
 
     }
 
-    private ADASRecognizedResultConvert mAdasResultConvert;
-
-
-    @Override
-    public void setAdasRecognizedResult(String result) {
-        Log.d("liyz", "------- setAdasRecognizedResult ------>result = " + result);
-        mAdasResultConvert = GsonUtil.objectFromJson(result, ADASRecognizedResultConvert.class);
-    }
-
     @Override
     public void setTrafficEnabled(boolean visible) {
         if (checkAMapView()) {
@@ -773,7 +763,6 @@ public class AMapViewWrapper implements IMogoMapView,
         }
 
         if (mSelfMarker == null) { //TODO mAdasResultConvert
-//            Log.d("liyz", "-------1------>");
             try {
                 mSelfMarker = mMapView.getMapAutoViewHelper().getMyLocationStyle().getSelfMarker();
                 mSelfMarker.setInfoWindowEnable(true);
@@ -781,15 +770,28 @@ public class AMapViewWrapper implements IMogoMapView,
             } catch (Exception e) {
             }
 //        } else {
-//            Log.d("liyz", "-------2------>");
-//            mSelfMarker.marker3DIcon(R.raw.people);
 //            WorkThreadHandler.getInstance().postDelayed(() -> {
 //                mSelfMarker.marker3DIcon(R.raw.people);
 //            }, 10000);
+
+//            if (mAdasResult.type == 1) { //通过不同的方向类型来改变车模，目前暂定三种模型，还未定
+//              Log.d("liyz", "-------1------>")
+//              mSelfMarker.marker3DIcon(R.raw.people);
+//            }
+
         }
+
         showSelfSpeed(location.getSpeed());
     }
 
+    private ADASRecognizedResult mAdasResult;
+
+    @Override
+    public void setAdasRecognizedResult(ADASRecognizedResult result) {
+        mAdasResult = result;
+    }
+
+
     private TextView mSpeedView = null;
     private int mLastYOffset = 20;
 
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java
index 5aed07f73e..e2aa930e1b 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java
@@ -13,6 +13,7 @@ import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
+import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.zhidaoauto.map.sdk.open.MapAutoApi;
 
 import org.json.JSONObject;
@@ -359,7 +360,7 @@ public class AMapUIController implements IMogoMapUIController {
     }
 
     @Override
-    public void setAdasRecognizedResult(String result) {
+    public void setAdasRecognizedResult(ADASRecognizedResult result) {
         if (mClient != null) {
             mClient.setAdasRecognizedResult(result);
         }
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
index 77d1460bab..a5a53de416 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
@@ -11,6 +11,7 @@ import androidx.annotation.Nullable;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.anim.OnMarkerAnimationListener;
+import com.mogo.realtime.entity.ADASRecognizedResult;
 
 import org.json.JSONObject;
 
@@ -236,7 +237,7 @@ public interface IMogoMapUIController {
      */
     void changeBearing( float bearing );
 
-    void setAdasRecognizedResult(String result);
+    void setAdasRecognizedResult(ADASRecognizedResult result);
 
     /**
      * 获取瓦片id
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
index 14b7db6a78..a92d3f251b 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
@@ -12,6 +12,7 @@ import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.MapCameraPosition;
 import com.mogo.map.uicontroller.MapControlResult;
+import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.logger.Logger;
 
 import org.json.JSONObject;
@@ -403,7 +404,7 @@ public class MogoMapUIController implements IMogoMapUIController {
     }
 
     @Override
-    public void setAdasRecognizedResult(String result) {
+    public void setAdasRecognizedResult(ADASRecognizedResult result) {
         initDelegate();
         if (mDelegate != null) {
             mDelegate.setAdasRecognizedResult(result);
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java
index 8ff04c3c59..c3e01a13b4 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java
@@ -11,12 +11,12 @@ import java.util.ArrayList;
 import java.util.List;
 
 public
-/*
- * @author congtaowang
- * @since 2020/12/14
- *
- * 实时坐标数据处理中心
- */
+        /*
+         * @author congtaowang
+         * @since 2020/12/14
+         *
+         * 实时坐标数据处理中心
+         */
 class SnapshotLocationController {
 
     private static final String TAG = "SnapshotLocationController";
@@ -27,9 +27,9 @@ class SnapshotLocationController {
     }
 
     public static SnapshotLocationController getInstance() {
-        if ( sInstance == null ) {
-            synchronized ( SnapshotLocationController.class ) {
-                if ( sInstance == null ) {
+        if (sInstance == null) {
+            synchronized (SnapshotLocationController.class) {
+                if (sInstance == null) {
                     sInstance = new SnapshotLocationController();
                 }
             }
@@ -44,10 +44,10 @@ class SnapshotLocationController {
     private CloudLocationInfo mLastLocationInfo = null;
 
     // GPS(1s1次) RTK(OS侧)缓存数据，
-    private final List< CloudLocationInfo > mLocationList = new ArrayList<>();
+    private final List<CloudLocationInfo> mLocationList = new ArrayList<>();
 
     // adda 工控机数据缓存
-    private final List< CloudLocationInfo > mMachineCacheList = new ArrayList<>();
+    private final List<CloudLocationInfo> mMachineCacheList = new ArrayList<>();
 
     private int mDataAccuracy = 0;
     private double mCurSpeed;
@@ -59,15 +59,15 @@ class SnapshotLocationController {
      *
      * @param cli {@link CloudLocationInfo}
      */
-    public void syncLocationInfo( CloudLocationInfo cli ) {
-        if ( cli == null ) {
+    public void syncLocationInfo(CloudLocationInfo cli) {
+        if (cli == null) {
             return;
         }
         mLastLocationInfo = cli;
         mCurSpeed = cli.getSpeed();
         mCurLon = cli.getLon();
         mCurLat = cli.getLat();
-        mLocationList.add( cli );
+        mLocationList.add(cli);
     }
 
     /**
@@ -75,33 +75,39 @@ class SnapshotLocationController {
      *
      * @param data JSON结构化数据
      */
-    public void syncAdasLocationInfo( JSONObject data ) {
-        if ( data == null ) {
+    public void syncAdasLocationInfo(JSONObject data) {
+        if (data == null) {
             return;
         }
-        DebugConfig.setStatus( DebugConfig.sLocation, true );
-        Logger.d( TAG, "同步到rtk数据" );
-        double lon = data.optDouble( "lon", -1 );
-        double lat = data.optDouble( "lat", -1 );
-        double alt = data.optDouble( "alt", -1 );
-        double heading = data.optDouble( "heading", -1 );
-        double acceleration = data.optDouble( "acceleration", -1 );
-        double yawRate = data.optDouble( "yawRate", -1 );
-        double speed = data.optDouble( "speed", -1 );
-        long satelliteTime = data.optLong( "satelliteTime" );
-        long systemTime = data.optLong( "systemTime" );
+        //测试面板状态同步
+        DebugConfig.setStatus(DebugConfig.sLocation, true);
+
+        Logger.d(TAG, "同步到rtk数据");
+        double lon = data.optDouble("lon", -1);
+        double lat = data.optDouble("lat", -1);
+        double alt = data.optDouble("alt", -1);
+        double heading = data.optDouble("heading", -1);
+        double acceleration = data.optDouble("acceleration", -1);
+        double yawRate = data.optDouble("yawRate", -1);
+        double speed = data.optDouble("speed", -1);
+        long satelliteTime = data.optLong("satelliteTime");
+        long systemTime = data.optLong("systemTime");
+
+        //测试面板状态同步
+        DebugConfig.setStatusData(DebugConfig.sLon, lon);
+        DebugConfig.setStatusData(DebugConfig.sLat, lat);
 
         CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
-        cloudLocationInfo.setAlt( alt );
-        cloudLocationInfo.setHeading( heading );
-        cloudLocationInfo.setLat( lat );
-        cloudLocationInfo.setLon( lon );
-        cloudLocationInfo.setSpeed( speed );
-        cloudLocationInfo.setSatelliteTime( satelliteTime );
-        cloudLocationInfo.setSystemTime( systemTime );
-        cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon,lat)));
+        cloudLocationInfo.setAlt(alt);
+        cloudLocationInfo.setHeading(heading);
+        cloudLocationInfo.setLat(lat);
+        cloudLocationInfo.setLon(lon);
+        cloudLocationInfo.setSpeed(speed);
+        cloudLocationInfo.setSatelliteTime(satelliteTime);
+        cloudLocationInfo.setSystemTime(systemTime);
+        cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
         mLastLocationInfo = cloudLocationInfo;
-        mMachineCacheList.add( cloudLocationInfo );
+        mMachineCacheList.add(cloudLocationInfo);
 
         mCurSpeed = cloudLocationInfo.getSpeed();
         mCurLon = cloudLocationInfo.getLon();
@@ -113,29 +119,29 @@ class SnapshotLocationController {
      *
      * @return 坐标合集
      */
-    public List< CloudLocationInfo > getSendLocationData() {
+    public List<CloudLocationInfo> getSendLocationData() {
 
-        List< CloudLocationInfo > list = null;
-        if ( mMachineCacheList != null ) {
+        List<CloudLocationInfo> list = null;
+        if (mMachineCacheList != null) {
             mDataAccuracy = 1;
-            list = new ArrayList<>( mMachineCacheList );
+            list = new ArrayList<>(mMachineCacheList);
             mMachineCacheList.clear();
         }
-        if ( list == null || list.isEmpty() ) {
+        if (list == null || list.isEmpty()) {
             mDataAccuracy = 0;
-            if ( mLocationList != null ) {
-                list = new ArrayList<>( mLocationList );
+            if (mLocationList != null) {
+                list = new ArrayList<>(mLocationList);
                 mLocationList.clear();
             }
         }
-        if ( list == null || list.isEmpty() ) {
-            if ( mLastLocationInfo != null ) {
+        if (list == null || list.isEmpty()) {
+            if (mLastLocationInfo != null) {
                 list = new ArrayList();
-                list.add( mLastLocationInfo );
+                list.add(mLastLocationInfo);
                 mLastLocationInfo = null;
             }
         }
-        Logger.d( TAG, "upload loc size = %s", list == null ? 0 : list.size() );
+        Logger.d(TAG, "upload loc size = %s", list == null ? 0 : list.size());
         return list;
     }
 
@@ -145,7 +151,7 @@ class SnapshotLocationController {
      * @return 精度
      */
     public int getDataAccuracy() {
-        Logger.d( TAG, "upload loc accuracy = %s", mDataAccuracy );
+        Logger.d(TAG, "upload loc accuracy = %s", mDataAccuracy);
         return mDataAccuracy;
     }
 
diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/service/MogoMainService.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/service/MogoMainService.java
index 214d81ea08..9b9f0d7615 100644
--- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/service/MogoMainService.java
+++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/service/MogoMainService.java
@@ -26,7 +26,7 @@ public
  *
  * 描述
  */
-@Route( path = "/service/base/info" )
+@Route(path = "/service/base/info")
 class MogoMainService extends Service implements IMogoLocationListener {
 
     private static final String TAG = "MogoMainService";
@@ -39,10 +39,10 @@ class MogoMainService extends Service implements IMogoLocationListener {
 
     @Override
     public void onCreate() {
-        Logger.d( TAG, "基本服务启动" );
+        Logger.d(TAG, "基本服务启动");
         mServiceApis = MogoApisHandler.getInstance().getApis();
         initAndStartLocation();
-        UiThreadHandler.postDelayed( () -> {
+        UiThreadHandler.postDelayed(() -> {
                     loadBaseModules();
                     startTanluService();
                     initADAS();
@@ -56,53 +56,61 @@ class MogoMainService extends Service implements IMogoLocationListener {
 
     @Nullable
     @Override
-    public IBinder onBind( Intent intent ) {
+    public IBinder onBind(Intent intent) {
         return null;
     }
 
     @Override
-    public int onStartCommand( Intent intent, int flags, int startId ) {
+    public int onStartCommand(Intent intent, int flags, int startId) {
         return START_STICKY;
     }
 
     private void initAndStartLocation() {
-        Logger.d( TAG, "开始定位" );
-        mLocationClient = mServiceApis.getMapServiceApi().getSingletonLocationClient( AbsMogoApplication.getApp() );
-        mLocationClient.addLocationListener( this );
-        mLocationClient.start( 2_000L );
+        Logger.d(TAG, "开始定位");
+        if (mServiceApis != null) {
+            mLocationClient = mServiceApis.getMapServiceApi().getSingletonLocationClient(AbsMogoApplication.getApp());
+            mLocationClient.addLocationListener(this);
+            mLocationClient.start(2_000L);
+        }
     }
 
     private void initGpsSimulatorListener() {
-        mServiceApis.getMapServiceApi().getNavi( this ).registerCarLocationChangedListener( EventDispatchCenter.getInstance() );
+        if (mServiceApis != null) {
+            mServiceApis.getMapServiceApi().getNavi(this).registerCarLocationChangedListener(EventDispatchCenter.getInstance());
+        }
     }
 
     private void loadBaseModules() {
-        Logger.d( TAG, "加载基本模块" );
+        Logger.d(TAG, "加载基本模块");
         MogoModulesManager.getInstance().loadBaseModule();
     }
 
     private void startTanluService() {
-        UiThreadHandler.postDelayed( () -> {
-                    Logger.d( TAG, "startTanluService ---------- " );
-                    mServiceApis.getTanluApi().startTanluService();
+        UiThreadHandler.postDelayed(() -> {
+                    Logger.d(TAG, "startTanluService ---------- ");
+                    if (mServiceApis != null) {
+                        mServiceApis.getTanluApi().startTanluService();
+                    }
                 }, 2_000L
         );
     }
 
     private void initADAS() {
-        mServiceApis.getAdasControllerApi().init( AbsMogoApplication.getApp() );
+        if (mServiceApis != null) {
+            mServiceApis.getAdasControllerApi().init(AbsMogoApplication.getApp());
+        }
     }
 
     @Override
-    public void onLocationChanged( MogoLocation location ) {
-        EventDispatchCenter.getInstance().onLocationChanged( location );
+    public void onLocationChanged(MogoLocation location) {
+        EventDispatchCenter.getInstance().onLocationChanged(location);
     }
 
     @Override
     public void onDestroy() {
         super.onDestroy();
-        if ( mLocationClient != null ) {
-            mLocationClient.removeLocationListener( this );
+        if (mLocationClient != null) {
+            mLocationClient.removeLocationListener(this);
             mLocationClient.stop();
             mLocationClient.destroy();
             mLocationClient = null;
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MarkerServiceHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MarkerServiceHandler.java
index abbc83a430..c2046944b6 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MarkerServiceHandler.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MarkerServiceHandler.java
@@ -7,6 +7,7 @@ import com.mogo.map.location.IMogoLocationClient;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.navi.IMogoNavi;
+import com.mogo.map.overlay.IMogoOverlayManager;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.drawer.MarkerDrawer;
@@ -61,6 +62,7 @@ public class MarkerServiceHandler {
     private static IMogoFragmentManager sFragmentManager;
     private static ICarsChattingProvider sCarChatting;
     private static IV2XProvider sIV2XProvider;
+    private static IMogoOverlayManager sIMogoOverlayManager;
 
 //    private static IMogoGpsSimulatorManager sGpsSimulatorManager;
 
@@ -77,6 +79,7 @@ public class MarkerServiceHandler {
         sMogoSocketManager = sApis.getSocketManagerApi( context );
         sMogoAnalytics = sApis.getAnalyticsApi();
         sMarkerManager = sMapService.getMarkerManager( context );
+        sIMogoOverlayManager = sMapService.getOverlayManager(context);
         sNavi = sMapService.getNavi( context );
         sMapUIController = sMapService.getMapUIController();
         sLocationClient = sMapService.getSingletonLocationClient( context );
@@ -87,7 +90,6 @@ public class MarkerServiceHandler {
         sADASController = sApis.getAdasControllerApi();
         sLauncher = sApis.getLauncherApi();
         sFragmentManager = sApis.getFragmentManagerApi();
-
         sCarChatting = ( ICarsChattingProvider ) ARouter.getInstance().build( CallChattingProviderConstant.CAR_CALL_PROVIDER ).navigation( context );
         sIV2XProvider = sApis.getV2XListenerManager();
 
@@ -172,7 +174,15 @@ public class MarkerServiceHandler {
         return sCarChatting;
     }
 
-//    public static IMogoGpsSimulatorManager getGpsSimulatorManager() {
+    public static IMogoOverlayManager getsIMogoOverlayManager() {
+        return sIMogoOverlayManager;
+    }
+
+    public static void setsIMogoOverlayManager(IMogoOverlayManager sIMogoOverlayManager) {
+        MarkerServiceHandler.sIMogoOverlayManager = sIMogoOverlayManager;
+    }
+
+    //    public static IMogoGpsSimulatorManager getGpsSimulatorManager() {
 //        return sGpsSimulatorManager;
 //    }
 
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 7899318da8..aee1f07bf2 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
@@ -30,7 +30,6 @@ import com.mogo.map.search.geo.query.MogoRegeocodeQuery;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.dialog.WMDialog;
-import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
 import com.mogo.module.common.drawer.SnapshotSetDataDrawer;
 import com.mogo.module.common.uploadintime.SnapshotLocationController;
 import com.mogo.module.service.MarkerServiceHandler;
@@ -48,7 +47,6 @@ import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.utils.GsonUtil;
 import com.mogo.utils.storage.SharedPrefsMgr;
 
-import org.json.JSONArray;
 import org.json.JSONObject;
 
 import java.io.BufferedReader;
@@ -70,107 +68,103 @@ public class MockIntentHandler implements IntentHandler {
     private IMogoMarker centerMarker;
 
     @Override
-    public void handle( Context context, Intent intent ) {
-        if ( !DebugConfig.isDebug() ) {
+    public void handle(Context context, Intent intent) {
+        if (!DebugConfig.isDebug()) {
             return;
         }
 
-        final int oper = intent.getIntExtra( "oper", -1 );
-        switch ( oper ) {
+        final int oper = intent.getIntExtra("oper", -1);
+        switch (oper) {
             case 1:
-                MarkerServiceHandler.getMapUIController().showMyLocation( intent.getBooleanExtra( "status", true ) );
+                MarkerServiceHandler.getMapUIController().showMyLocation(intent.getBooleanExtra("status", true));
                 break;
             case 2:
-                boolean status = intent.getBooleanExtra( "status", false );
-                MarkerServiceHandler.getMogoStatusManager().setSeekHelping( TAG, status );
+                boolean status = intent.getBooleanExtra("status", false);
+                MarkerServiceHandler.getMogoStatusManager().setSeekHelping(TAG, status);
                 break;
             case 3:
-                String msg = intent.getStringExtra( "msg" );
-                if ( !TextUtils.isEmpty( msg ) ) {
-                    TipToast.shortTip( msg );
+                String msg = intent.getStringExtra("msg");
+                if (!TextUtils.isEmpty(msg)) {
+                    TipToast.shortTip(msg);
                 }
                 break;
             case 4:// 测试左侧按钮1
-                TextView button1 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton( ButtonIndex.BUTTON1 );
-                if ( button1 != null ) {
-                    button1.setVisibility( View.VISIBLE );
-                    button1.setBackgroundColor( Color.RED );
-                    button1.setOnClickListener( view -> {
-                    } );
+                TextView button1 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton(ButtonIndex.BUTTON1);
+                if (button1 != null) {
+                    button1.setVisibility(View.VISIBLE);
+                    button1.setBackgroundColor(Color.RED);
+                    button1.setOnClickListener(view -> {
+                    });
                 }
                 break;
             case 5:// 测试左侧按钮2
-                TextView button2 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton( ButtonIndex.BUTTON2 );
-                if ( button2 != null ) {
-                    button2.setOnClickListener( null );
-                    button2.setVisibility( View.GONE );
+                TextView button2 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton(ButtonIndex.BUTTON2);
+                if (button2 != null) {
+                    button2.setOnClickListener(null);
+                    button2.setVisibility(View.GONE);
                 }
                 break;
             case 6://
-                boolean status1 = intent.getBooleanExtra( "status", false );
-                MarkerServiceHandler.getMogoStatusManager().setUploadingStatus( TAG, status1 );
+                boolean status1 = intent.getBooleanExtra("status", false);
+                MarkerServiceHandler.getMogoStatusManager().setUploadingStatus(TAG, status1);
                 break;
             case 7:// 打开微信
-                TextView button11 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton( ButtonIndex.BUTTON1 );
-                if ( button11 != null ) {
-                    button11.setVisibility( View.VISIBLE );
-                    button11.setBackgroundColor( Color.RED );
-                    button11.setOnClickListener( view -> {
+                TextView button11 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton(ButtonIndex.BUTTON1);
+                if (button11 != null) {
+                    button11.setVisibility(View.VISIBLE);
+                    button11.setBackgroundColor(Color.RED);
+                    button11.setOnClickListener(view -> {
                         Intent intent1 = new Intent();
-                        intent1.setAction( Intent.ACTION_VIEW );
-                        intent1.addFlags( Intent.FLAG_ACTIVITY_NEW_TASK );
-                        intent1.setData( Uri.parse( "wechathelper://com.zhidao.wechathelper/main/transform?type=navi&lon=116.327007&lat=39.977639&from=os2.0" ) );
+                        intent1.setAction(Intent.ACTION_VIEW);
+                        intent1.addFlags(Intent.FLAG_ACTIVITY_NEW_TASK);
+                        intent1.setData(Uri.parse("wechathelper://com.zhidao.wechathelper/main/transform?type=navi&lon=116.327007&lat=39.977639&from=os2.0"));
                         try {
-                            view.setOnClickListener( null );
-                            view.getContext().startActivity( intent1 );
-                        } catch ( Exception e ) {
+                            view.setOnClickListener(null);
+                            view.getContext().startActivity(intent1);
+                        } catch (Exception e) {
                             e.printStackTrace();
                         }
-                        view.setVisibility( View.GONE );
-                    } );
+                        view.setVisibility(View.GONE);
+                    });
                 }
                 break;
             case 8:// 测试修改车头角度
-                float bearing = intent.getFloatExtra( "bearing", 0 );
-                MarkerServiceHandler.getMapUIController().changeBearing( bearing );
+                float bearing = intent.getFloatExtra("bearing", 0);
+                MarkerServiceHandler.getMapUIController().changeBearing(bearing);
                 break;
             case 9:// 测试弹窗
-                new WMDialog.Builder( context )
-                        .setOkButton( "确认", ( dlg, which ) -> {
-                            dlg.dismiss();
-                        } )
-                        .setCancelButton( "取消", ( dlg, which ) -> {
-                            dlg.dismiss();
-                        } )
-                        .setContent( "内容内容内容内容内容内容内容内容" )
+                new WMDialog.Builder(context)
+                        .setOkButton("确认", (dlg, which) -> dlg.dismiss())
+                        .setCancelButton("取消", (dlg, which) -> dlg.dismiss())
+                        .setContent("内容内容内容内容内容内容内容内容")
                         .build()
                         .show();
                 break;
             case 10://测试GEO查询
-                IMogoGeoSearch geoSearch = MarkerServiceHandler.getMapService().getGeoSearch( context );
-                geoSearch.setGeoSearchListener( new IMogoGeoSearchListener() {
+                IMogoGeoSearch geoSearch = MarkerServiceHandler.getMapService().getGeoSearch(context);
+                geoSearch.setGeoSearchListener(new IMogoGeoSearchListener() {
                     @Override
-                    public void onRegeocodeSearched( MogoRegeocodeResult regeocodeResult ) {
-                        Logger.d( TAG, GsonUtil.jsonFromObject( regeocodeResult ) );
+                    public void onRegeocodeSearched(MogoRegeocodeResult regeocodeResult) {
+                        Logger.d(TAG, GsonUtil.jsonFromObject(regeocodeResult));
                     }
 
                     @Override
-                    public void onGeocodeSearched( MogoGeocodeResult geocodeResult ) {
+                    public void onGeocodeSearched(MogoGeocodeResult geocodeResult) {
 
                     }
-                } );
+                });
                 MogoRegeocodeQuery query = new MogoRegeocodeQuery();
-                query.setLatlngType( "autonavi" );
-                query.setPoint( new MogoLatLng( intent.getFloatExtra( "lat", 39.917366f ), intent.getFloatExtra( "lon", 116.39962f ) ) );
-                query.setRadius( 1000 );
-                geoSearch.getFromLocationAsyn( query );
+                query.setLatlngType("autonavi");
+                query.setPoint(new MogoLatLng(intent.getFloatExtra("lat", 39.917366f), intent.getFloatExtra("lon", 116.39962f)));
+                query.setRadius(1000);
+                geoSearch.getFromLocationAsyn(query);
                 break;
             case 11:// 控制ADAS中的设置页面
-                MarkerServiceHandler.getADASController().setSettingStatus( intent.getBooleanExtra( "status", false ) );
+                MarkerServiceHandler.getADASController().setSettingStatus(intent.getBooleanExtra("status", false));
                 break;
             case 12: {// 控制ADAS显示隐藏
-                boolean status2 = intent.getBooleanExtra( "status", false );
-                if ( status2 ) {
+                boolean status2 = intent.getBooleanExtra("status", false);
+                if (status2) {
                     MarkerServiceHandler.getADASController().showADAS();
                 } else {
                     MarkerServiceHandler.getADASController().closeADAS();
@@ -178,10 +172,10 @@ public class MockIntentHandler implements IntentHandler {
             }
             break;
             case 13: {// 唤起高德地图
-                double lat = intent.getFloatExtra( "lat", 0.0f );
-                double lon = intent.getFloatExtra( "lon", 0.0f );
-                boolean real = intent.getBooleanExtra( "real", false );
-                MarkerServiceHandler.getRegisterCenter().registerMogoNaviListener( TAG, new IMogoNaviListener() {
+                double lat = intent.getFloatExtra("lat", 0.0f);
+                double lon = intent.getFloatExtra("lon", 0.0f);
+                boolean real = intent.getBooleanExtra("real", false);
+                MarkerServiceHandler.getRegisterCenter().registerMogoNaviListener(TAG, new IMogoNaviListener() {
                     @Override
                     public void onInitNaviFailure() {
 
@@ -193,7 +187,7 @@ public class MockIntentHandler implements IntentHandler {
                     }
 
                     @Override
-                    public void onNaviInfoUpdate( MogoNaviInfo naviinfo ) {
+                    public void onNaviInfoUpdate(MogoNaviInfo naviinfo) {
 
                     }
 
@@ -209,8 +203,8 @@ public class MockIntentHandler implements IntentHandler {
 
                     @Override
                     public void onCalculateSuccess() {
-                        MarkerServiceHandler.getRegisterCenter().unregisterMogoNaviListener( TAG );
-                        MarkerServiceHandler.getNavi().startNavi( real );
+                        MarkerServiceHandler.getRegisterCenter().unregisterMogoNaviListener(TAG);
+                        MarkerServiceHandler.getNavi().startNavi(real);
                     }
 
                     @Override
@@ -219,134 +213,132 @@ public class MockIntentHandler implements IntentHandler {
                     }
 
                     @Override
-                    public void onUpdateTraffic( MogoTraffic traffic ) {
+                    public void onUpdateTraffic(MogoTraffic traffic) {
 
                     }
-                } );
-                MarkerServiceHandler.getNavi().naviTo( new MogoLatLng( lat, lon ) );
+                });
+                MarkerServiceHandler.getNavi().naviTo(new MogoLatLng(lat, lon));
             }
             case 14: {//测试点的动画移动，模拟周边车辆移动
-                List< MogoLatLng > mogoLatLngs = new ArrayList<>();
-                mogoLatLngs.add( new MogoLatLng( 39.615986, 116.396716 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616007, 116.396995 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616012, 116.397169 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616017, 116.397343 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616022, 116.397517 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616029, 116.397693 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616039, 116.397896 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616051, 116.3981 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616058, 116.39827 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616066, 116.398441 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616074, 116.398612 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616083, 116.398787 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616093, 116.39899 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616105, 116.399195 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616112, 116.399334 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.61612, 116.399473 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616128, 116.399612 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616136, 116.399751 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616148, 116.399893 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616153, 116.40008 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616159, 116.400301 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616167, 116.400471 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616175, 116.400642 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616183, 116.400813 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616192, 116.400988 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616201, 116.401191 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616213, 116.401396 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616235, 116.401728 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616246, 116.401986 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.61625, 116.402146 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616255, 116.402307 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.61626, 116.402468 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616267, 116.40263 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616272, 116.402762 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616277, 116.402894 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616282, 116.403026 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616287, 116.403158 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616292, 116.40329 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616297, 116.403422 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616302, 116.403554 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616307, 116.403686 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616321, 116.403821 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616331, 116.404045 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616343, 116.404272 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616353, 116.404551 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616363, 116.404753 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616375, 116.404958 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616375, 116.405055 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616379, 116.405184 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616384, 116.405313 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616389, 116.405442 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616394, 116.405571 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616399, 116.4057 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616404, 116.405829 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616409, 116.405958 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616414, 116.406087 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616419, 116.406216 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616424, 116.406345 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616429, 116.406474 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.61644, 116.406611 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616461, 116.406879 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616465, 116.407033 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616469, 116.407187 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616473, 116.407341 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616477, 116.407495 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616483, 116.407694 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616493, 116.407876 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616504, 116.408059 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616515, 116.408327 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616526, 116.408596 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616536, 116.408757 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616547, 116.409025 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616556, 116.409227 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616568, 116.409432 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616579, 116.409711 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.61659, 116.409914 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616601, 116.410119 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616601, 116.410387 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616601, 116.410602 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616622, 116.410816 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616633, 116.411084 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616643, 116.411395 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616654, 116.411492 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616665, 116.411771 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616674, 116.411974 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616686, 116.412178 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616697, 116.412447 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616697, 116.412586 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616718, 116.412876 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616729, 116.413144 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616738, 116.413347 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.61675, 116.413551 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.61675, 116.41383 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616761, 116.414002 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616761, 116.414098 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616767, 116.414279 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616774, 116.414461 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616782, 116.414645 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616792, 116.41483 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616802, 116.415016 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616814, 116.415203 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616824, 116.415395 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616836, 116.415589 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616842, 116.415745 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616849, 116.415902 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616857, 116.416061 ) );
-                mogoLatLngs.add( new MogoLatLng( 39.616868, 116.416307 ) );
+                List<MogoLatLng> mogoLatLngs = new ArrayList<>();
+                mogoLatLngs.add(new MogoLatLng(39.615986, 116.396716));
+                mogoLatLngs.add(new MogoLatLng(39.616007, 116.396995));
+                mogoLatLngs.add(new MogoLatLng(39.616012, 116.397169));
+                mogoLatLngs.add(new MogoLatLng(39.616017, 116.397343));
+                mogoLatLngs.add(new MogoLatLng(39.616022, 116.397517));
+                mogoLatLngs.add(new MogoLatLng(39.616029, 116.397693));
+                mogoLatLngs.add(new MogoLatLng(39.616039, 116.397896));
+                mogoLatLngs.add(new MogoLatLng(39.616051, 116.3981));
+                mogoLatLngs.add(new MogoLatLng(39.616058, 116.39827));
+                mogoLatLngs.add(new MogoLatLng(39.616066, 116.398441));
+                mogoLatLngs.add(new MogoLatLng(39.616074, 116.398612));
+                mogoLatLngs.add(new MogoLatLng(39.616083, 116.398787));
+                mogoLatLngs.add(new MogoLatLng(39.616093, 116.39899));
+                mogoLatLngs.add(new MogoLatLng(39.616105, 116.399195));
+                mogoLatLngs.add(new MogoLatLng(39.616112, 116.399334));
+                mogoLatLngs.add(new MogoLatLng(39.61612, 116.399473));
+                mogoLatLngs.add(new MogoLatLng(39.616128, 116.399612));
+                mogoLatLngs.add(new MogoLatLng(39.616136, 116.399751));
+                mogoLatLngs.add(new MogoLatLng(39.616148, 116.399893));
+                mogoLatLngs.add(new MogoLatLng(39.616153, 116.40008));
+                mogoLatLngs.add(new MogoLatLng(39.616159, 116.400301));
+                mogoLatLngs.add(new MogoLatLng(39.616167, 116.400471));
+                mogoLatLngs.add(new MogoLatLng(39.616175, 116.400642));
+                mogoLatLngs.add(new MogoLatLng(39.616183, 116.400813));
+                mogoLatLngs.add(new MogoLatLng(39.616192, 116.400988));
+                mogoLatLngs.add(new MogoLatLng(39.616201, 116.401191));
+                mogoLatLngs.add(new MogoLatLng(39.616213, 116.401396));
+                mogoLatLngs.add(new MogoLatLng(39.616235, 116.401728));
+                mogoLatLngs.add(new MogoLatLng(39.616246, 116.401986));
+                mogoLatLngs.add(new MogoLatLng(39.61625, 116.402146));
+                mogoLatLngs.add(new MogoLatLng(39.616255, 116.402307));
+                mogoLatLngs.add(new MogoLatLng(39.61626, 116.402468));
+                mogoLatLngs.add(new MogoLatLng(39.616267, 116.40263));
+                mogoLatLngs.add(new MogoLatLng(39.616272, 116.402762));
+                mogoLatLngs.add(new MogoLatLng(39.616277, 116.402894));
+                mogoLatLngs.add(new MogoLatLng(39.616282, 116.403026));
+                mogoLatLngs.add(new MogoLatLng(39.616287, 116.403158));
+                mogoLatLngs.add(new MogoLatLng(39.616292, 116.40329));
+                mogoLatLngs.add(new MogoLatLng(39.616297, 116.403422));
+                mogoLatLngs.add(new MogoLatLng(39.616302, 116.403554));
+                mogoLatLngs.add(new MogoLatLng(39.616307, 116.403686));
+                mogoLatLngs.add(new MogoLatLng(39.616321, 116.403821));
+                mogoLatLngs.add(new MogoLatLng(39.616331, 116.404045));
+                mogoLatLngs.add(new MogoLatLng(39.616343, 116.404272));
+                mogoLatLngs.add(new MogoLatLng(39.616353, 116.404551));
+                mogoLatLngs.add(new MogoLatLng(39.616363, 116.404753));
+                mogoLatLngs.add(new MogoLatLng(39.616375, 116.404958));
+                mogoLatLngs.add(new MogoLatLng(39.616375, 116.405055));
+                mogoLatLngs.add(new MogoLatLng(39.616379, 116.405184));
+                mogoLatLngs.add(new MogoLatLng(39.616384, 116.405313));
+                mogoLatLngs.add(new MogoLatLng(39.616389, 116.405442));
+                mogoLatLngs.add(new MogoLatLng(39.616394, 116.405571));
+                mogoLatLngs.add(new MogoLatLng(39.616399, 116.4057));
+                mogoLatLngs.add(new MogoLatLng(39.616404, 116.405829));
+                mogoLatLngs.add(new MogoLatLng(39.616409, 116.405958));
+                mogoLatLngs.add(new MogoLatLng(39.616414, 116.406087));
+                mogoLatLngs.add(new MogoLatLng(39.616419, 116.406216));
+                mogoLatLngs.add(new MogoLatLng(39.616424, 116.406345));
+                mogoLatLngs.add(new MogoLatLng(39.616429, 116.406474));
+                mogoLatLngs.add(new MogoLatLng(39.61644, 116.406611));
+                mogoLatLngs.add(new MogoLatLng(39.616461, 116.406879));
+                mogoLatLngs.add(new MogoLatLng(39.616465, 116.407033));
+                mogoLatLngs.add(new MogoLatLng(39.616469, 116.407187));
+                mogoLatLngs.add(new MogoLatLng(39.616473, 116.407341));
+                mogoLatLngs.add(new MogoLatLng(39.616477, 116.407495));
+                mogoLatLngs.add(new MogoLatLng(39.616483, 116.407694));
+                mogoLatLngs.add(new MogoLatLng(39.616493, 116.407876));
+                mogoLatLngs.add(new MogoLatLng(39.616504, 116.408059));
+                mogoLatLngs.add(new MogoLatLng(39.616515, 116.408327));
+                mogoLatLngs.add(new MogoLatLng(39.616526, 116.408596));
+                mogoLatLngs.add(new MogoLatLng(39.616536, 116.408757));
+                mogoLatLngs.add(new MogoLatLng(39.616547, 116.409025));
+                mogoLatLngs.add(new MogoLatLng(39.616556, 116.409227));
+                mogoLatLngs.add(new MogoLatLng(39.616568, 116.409432));
+                mogoLatLngs.add(new MogoLatLng(39.616579, 116.409711));
+                mogoLatLngs.add(new MogoLatLng(39.61659, 116.409914));
+                mogoLatLngs.add(new MogoLatLng(39.616601, 116.410119));
+                mogoLatLngs.add(new MogoLatLng(39.616601, 116.410387));
+                mogoLatLngs.add(new MogoLatLng(39.616601, 116.410602));
+                mogoLatLngs.add(new MogoLatLng(39.616622, 116.410816));
+                mogoLatLngs.add(new MogoLatLng(39.616633, 116.411084));
+                mogoLatLngs.add(new MogoLatLng(39.616643, 116.411395));
+                mogoLatLngs.add(new MogoLatLng(39.616654, 116.411492));
+                mogoLatLngs.add(new MogoLatLng(39.616665, 116.411771));
+                mogoLatLngs.add(new MogoLatLng(39.616674, 116.411974));
+                mogoLatLngs.add(new MogoLatLng(39.616686, 116.412178));
+                mogoLatLngs.add(new MogoLatLng(39.616697, 116.412447));
+                mogoLatLngs.add(new MogoLatLng(39.616697, 116.412586));
+                mogoLatLngs.add(new MogoLatLng(39.616718, 116.412876));
+                mogoLatLngs.add(new MogoLatLng(39.616729, 116.413144));
+                mogoLatLngs.add(new MogoLatLng(39.616738, 116.413347));
+                mogoLatLngs.add(new MogoLatLng(39.61675, 116.413551));
+                mogoLatLngs.add(new MogoLatLng(39.61675, 116.41383));
+                mogoLatLngs.add(new MogoLatLng(39.616761, 116.414002));
+                mogoLatLngs.add(new MogoLatLng(39.616761, 116.414098));
+                mogoLatLngs.add(new MogoLatLng(39.616767, 116.414279));
+                mogoLatLngs.add(new MogoLatLng(39.616774, 116.414461));
+                mogoLatLngs.add(new MogoLatLng(39.616782, 116.414645));
+                mogoLatLngs.add(new MogoLatLng(39.616792, 116.41483));
+                mogoLatLngs.add(new MogoLatLng(39.616802, 116.415016));
+                mogoLatLngs.add(new MogoLatLng(39.616814, 116.415203));
+                mogoLatLngs.add(new MogoLatLng(39.616824, 116.415395));
+                mogoLatLngs.add(new MogoLatLng(39.616836, 116.415589));
+                mogoLatLngs.add(new MogoLatLng(39.616842, 116.415745));
+                mogoLatLngs.add(new MogoLatLng(39.616849, 116.415902));
+                mogoLatLngs.add(new MogoLatLng(39.616857, 116.416061));
+                mogoLatLngs.add(new MogoLatLng(39.616868, 116.416307));
                 MogoMarkerOptions options = new MogoMarkerOptions();
-                options.icon( BitmapFactory.decodeResource( AbsMogoApplication.getApp().getResources(), R.drawable.icon_map_marker_car_gray ) )
-                        .position( mogoLatLngs.get( 0 ) )
-                        .owner( TAG )
-                        .autoManager( false );
-                int duration = intent.getIntExtra( "duration", 30 );
-                MarkerServiceHandler.getApis().getRefreshStrategyControllerApi().restartAutoRefreshAtTime( duration );
-                IMogoMarker marker = MarkerServiceHandler.getMarkerManager().addMarker( TAG, options );
-                MarkerServiceHandler.getMogoStatusManager().setUserInteractionStatus( TAG, true, false );
-                MarkerServiceHandler.getMapUIController().moveToCenter( mogoLatLngs.get( 0 ) );
-                WorkThreadHandler.getInstance().post( () -> {
-                    marker.startSmooth( mogoLatLngs, duration );
-                } );
+                options.icon(BitmapFactory.decodeResource(AbsMogoApplication.getApp().getResources(), R.drawable.icon_map_marker_car_gray))
+                        .position(mogoLatLngs.get(0))
+                        .owner(TAG)
+                        .autoManager(false);
+                int duration = intent.getIntExtra("duration", 30);
+                MarkerServiceHandler.getApis().getRefreshStrategyControllerApi().restartAutoRefreshAtTime(duration);
+                IMogoMarker marker = MarkerServiceHandler.getMarkerManager().addMarker(TAG, options);
+                MarkerServiceHandler.getMogoStatusManager().setUserInteractionStatus(TAG, true, false);
+                MarkerServiceHandler.getMapUIController().moveToCenter(mogoLatLngs.get(0));
+                WorkThreadHandler.getInstance().post(() -> marker.startSmooth(mogoLatLngs, duration));
             }
             break;
 //            case 15:
@@ -356,31 +348,31 @@ public class MockIntentHandler implements IntentHandler {
 //                MarkerServiceHandler.getGpsSimulatorManager().close();
 //                break;
             case 17:// 查询在线车辆数据
-                DebugConfig.setRequestOnlineCarData( intent.getBooleanExtra( "status", true ) );
+                DebugConfig.setRequestOnlineCarData(intent.getBooleanExtra("status", true));
                 break;
             case 18:// 设置是否使用自研地图
-                TipToast.shortTip( "设置完成，下次启动生效" );
-                SharedPrefsMgr.getInstance( context ).putBoolean( "useCustomMap", intent.getBooleanExtra( "useCustomMap", false ) );
+                TipToast.shortTip("设置完成，下次启动生效");
+                SharedPrefsMgr.getInstance(context).putBoolean("useCustomMap", intent.getBooleanExtra("useCustomMap", false));
                 break;
             case 30:// 强制刷新地图
                 MarkerServiceHandler.getMapService().getMapUIController().forceRender();
                 break;
             case 31://
                 Intent intent3 = new Intent();
-                intent3.setAction( "AUTONAVI_STANDARD_BROADCAST_RECV" );
-                intent3.putExtra( "KEY_TYPE", 12404 );
-                intent3.putExtra( "EXTRA_REQUEST_AUTO_STATE", 0 );
-                context.sendBroadcast( intent3 );
+                intent3.setAction("AUTONAVI_STANDARD_BROADCAST_RECV");
+                intent3.putExtra("KEY_TYPE", 12404);
+                intent3.putExtra("EXTRA_REQUEST_AUTO_STATE", 0);
+                context.sendBroadcast(intent3);
                 break;
             case 32:// 控制实时路况
-                MarkerServiceHandler.getMapService().getMapUIController().setTrafficEnabled( true );
+                MarkerServiceHandler.getMapService().getMapUIController().setTrafficEnabled(true);
                 break;
             case 33:// 测试小智语音
-                AIAssist.getInstance( context ).speakTTSVoice( "庞帆说这个是一个 hard coding." );
+                AIAssist.getInstance(context).speakTTSVoice("庞帆说这个是一个 hard coding.");
                 break;
             case 34:// 修改地图模式VR OR 2D
-                int type = intent.getIntExtra( "type", 0 );
-                if ( type != 0 ) {
+                int type = intent.getIntExtra("type", 0);
+                if (type != 0) {
                     MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().changeToVRMode();
                 } else {
                     MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().changeTo2dMode();
@@ -394,23 +386,23 @@ public class MockIntentHandler implements IntentHandler {
                         .getMapServiceApi().getMapUIController()
                         .getWindowCenterLocation();
                 centerMarker = MogoApisHandler.getInstance().getApis()
-                        .getMapServiceApi().getMarkerManager( context )
-                        .addMarker( TAG, new MogoMarkerOptions()
-                                .position( center )
-                                .icon( BitmapFactory.decodeResource( context.getResources(), R.drawable.bg_map_marker_red ) ) );
+                        .getMapServiceApi().getMarkerManager(context)
+                        .addMarker(TAG, new MogoMarkerOptions()
+                                .position(center)
+                                .icon(BitmapFactory.decodeResource(context.getResources(), R.drawable.bg_map_marker_red)));
                 break;
             case 37:// 销毁测试打点
-                if ( centerMarker != null ) {
+                if (centerMarker != null) {
                     centerMarker.destroy();
                 }
                 break;
             case 38:// 控制RTK
                 MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
-                        .rtkEnable( false );
+                        .rtkEnable(false);
                 break;
             case 39:// 使用自动驾驶车的定位数据
                 MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
-                        .syncLocation2Map( null );
+                        .syncLocation2Map(null);
                 break;
             case 40:
 
@@ -486,147 +478,147 @@ public class MockIntentHandler implements IntentHandler {
                         {40.202545166015625, 116.7392807006836},
                         {40.20254898071289, 116.73928833007812},
                         {40.20254135131836, 116.7392807006836}};
-                for ( double[] coor : coors ) {
+                for (double[] coor : coors) {
                     double lat = coor[0], lon = coor[1];
-                    double[] translateCoor = CoordinateUtils.transformWgsToGcj( lat, lon );
-                    double[] originCoor = CoordinateUtils.transformGcj02toWgs84( translateCoor[1], translateCoor[0] );
-                    double delta = CoordinateUtils.calculateLineDistance( lon, lat, originCoor[0], originCoor[1] );
-                    Logger.d( TAG, "偏差值：%s", delta );
+                    double[] translateCoor = CoordinateUtils.transformWgsToGcj(lat, lon);
+                    double[] originCoor = CoordinateUtils.transformGcj02toWgs84(translateCoor[1], translateCoor[0]);
+                    double delta = CoordinateUtils.calculateLineDistance(lon, lat, originCoor[0], originCoor[1]);
+                    Logger.d(TAG, "偏差值：%s", delta);
                 }
                 break;
             case 41://
                 // adb shell am broadcast -a com.mogo.mock --ei oper 41 --ei type 0 平滑移动
                 // adb shell am broadcast -a com.mogo.mock --ei oper 41 --ei type 1 直接打点
-                DebugConfig.setNotSmooth( intent.getIntExtra( "type", 0 ) == 1 );
+                DebugConfig.setNotSmooth(intent.getIntExtra("type", 0) == 1);
                 break;
             case 42://
-                WorkThreadHandler.getInstance().post( () -> {
+                WorkThreadHandler.getInstance().post(() -> {
                     try {
-                        InputStream is = context.getAssets().open( "coors.json" );
-                        BufferedReader br = new BufferedReader( new InputStreamReader( is ) );
+                        InputStream is = context.getAssets().open("coors.json");
+                        BufferedReader br = new BufferedReader(new InputStreamReader(is));
                         String line = "";
-                        List< ADASCarStateInfo > vals = new ArrayList<>();
-                        while ( ( line = br.readLine() ) != null ) {
-                            String[] json = line.split( " - " );
-                            long time = Long.valueOf( json[0] );
-                            ADASCarStateInfo si = GsonUtil.objectFromJson( json[1], ADASCarStateInfo.class );
+                        List<ADASCarStateInfo> vals = new ArrayList<>();
+                        while ((line = br.readLine()) != null) {
+                            String[] json = line.split(" - ");
+                            long time = Long.parseLong(json[0]);
+                            ADASCarStateInfo si = GsonUtil.objectFromJson(json[1], ADASCarStateInfo.class);
 //                            si.getValues().setSatelliteTime( time + "" );
-                            vals.add( si );
+                            vals.add(si);
                         }
                         long interval = -1;
                         ADASCarStateInfo last = null;
-                        for ( ADASCarStateInfo val : vals ) {
-                            if ( last == null ) {
+                        for (ADASCarStateInfo val : vals) {
+                            if (last == null) {
                                 interval = 0;
                             } else {
-                                interval = Long.valueOf( val.getValues().getSatelliteTime() ) - Long.valueOf( last.getValues().getSatelliteTime() );
+                                interval = Long.parseLong(val.getValues().getSatelliteTime()) - Long.parseLong(last.getValues().getSatelliteTime());
                             }
                             last = val;
-                            WorkThreadHandler.getInstance().postDelayed( () -> {
-                                onAdasCarDataCallback( val );
-                            }, interval );
+                            WorkThreadHandler.getInstance().postDelayed(() -> onAdasCarDataCallback(val), interval);
                         }
-                    } catch ( Exception e ) {
+                    } catch (Exception e) {
                         e.printStackTrace();
                     }
-                } );
+                });
                 break;
             case 43://
                 MogoApisHandler.getInstance()
                         .getApis()
                         .getAdasControllerApi()
-                        .onAutopilotArriveLike( intent.getIntExtra( "type", 8 ) );
+                        .onAutopilotArriveLike(intent.getIntExtra("type", 8));
                 break;
             case 44:// 控制自动驾驶
                 RemoteControlAutoPilotParameters parameters = new RemoteControlAutoPilotParameters();
                 parameters.vehicleType = 9;
-                parameters.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat( 40.1690522746, 116.567374558 );
-                parameters.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat( 40.1651999405, 116.567217441 );
+                parameters.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(40.1690522746, 116.567374558);
+                parameters.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(40.1651999405, 116.567217441);
                 MogoApisHandler.getInstance()
                         .getApis()
                         .getAdasControllerApi()
-                        .aiCloudToAdasData( parameters );
+                        .aiCloudToAdasData(parameters);
                 break;
             case 45:// 测试开启鹰眼模式
                 MogoApisHandler.getInstance()
                         .getApis()
                         .getMapServiceApi()
                         .getMapUIController()
-                        .openVrMode( false );
+                        .openVrMode(false);
                 break;
             case 46:// 模拟 自车周边数据
                 String json = "{\"allList\":[{\"type\":3,\"uuid\":\"10009-5152\",\"lat\":40.1990809296,\"lon\":116.7393252195,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0},{\"type\":3,\"uuid\":\"10009-5161\",\"lat\":40.1990827227,\"lon\":116.739325826,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0}],\"nearList\":[],\"time\":1614329152238}";
-                SnapshotSetDataDrawer.getInstance().renderSnapshotData( GsonUtil.objectFromJson( json, MogoSnapshotSetData.class ) );
+                SnapshotSetDataDrawer.getInstance().renderSnapshotData(GsonUtil.objectFromJson(json, MogoSnapshotSetData.class));
                 break;
             case 47:// 模拟鹰眼模式下绘制车辆周边的数据
-                mTimeTickHandler.sendEmptyMessageDelayed( 1, 0L );
+                mTimeTickHandler.sendEmptyMessageDelayed(1, 0L);
                 break;
             case 48:// 模拟3D模型绘制
                 MogoMarkerOptions options = new MogoMarkerOptions()
-                        .owner( DataTypes.TYPE_MARKER_ADAS )
-                        .anchor( 0.5f, 0.5f )
-                        .set3DMode( true )
-                        .position( new MogoLatLng( 39.981971055705, 116.41150648393 ) )
-                        .gps( true )
-                        .controlAngle( true )
-                        .icon3DRes( R.raw.othercar )
-                        .rotate( ( float ) 358.526123 );
-                IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( context ).addMarker( DataTypes.TYPE_MARKER_ADAS, options );
-                List< MogoLatLng > latLngs = new ArrayList<>();
-                latLngs.add( new MogoLatLng( 39.981971055705, 116.41150648393 ) );
-                latLngs.add( new MogoLatLng( 39.981990561932, 116.412893641626 ) );
-                marker.startSmoothInMs( latLngs, 20_000L );
+                        .owner(DataTypes.TYPE_MARKER_ADAS)
+                        .anchor(0.5f, 0.5f)
+                        .set3DMode(true)
+                        .position(new MogoLatLng(39.981971055705, 116.41150648393))
+                        .gps(true)
+                        .controlAngle(true)
+                        .icon3DRes(R.raw.othercar)
+                        .rotate((float) 358.526123);
+                IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(context).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
+                List<MogoLatLng> latLngs = new ArrayList<>();
+                latLngs.add(new MogoLatLng(39.981971055705, 116.41150648393));
+                latLngs.add(new MogoLatLng(39.981990561932, 116.412893641626));
+                marker.startSmoothInMs(latLngs, 20_000L);
                 break;
             case 49:// 绘制marker
                 // 39.96741320378243, 116.41045709250723
                 // 39.98232698552779,116.41879656379113;
                 MogoMarkerOptions options1 = new MogoMarkerOptions()
-                        .owner( DataTypes.TYPE_MARKER_ADAS )
-                        .anchor( 0.5f, 0.5f )
-                        .set3DMode( false )
-                        .position( new MogoLatLng( 39.96741320378243, 116.41045709250723 ) )
-                        .gps( true )
-                        .controlAngle( false )
-                        .icon( BitmapFactory.decodeResource( context.getResources(), R.drawable.sy ) )
-                        .rotate( ( float ) 358.526123 );
-                IMogoMarker marker1 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( context ).addMarker( DataTypes.TYPE_MARKER_ADAS, options1 );
+                        .owner(DataTypes.TYPE_MARKER_ADAS)
+                        .anchor(0.5f, 0.5f)
+                        .set3DMode(false)
+                        .position(new MogoLatLng(39.96741320378243, 116.41045709250723))
+                        .gps(true)
+                        .controlAngle(false)
+                        .icon(BitmapFactory.decodeResource(context.getResources(), R.drawable.sy))
+                        .rotate((float) 358.526123);
+                IMogoMarker marker1 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(context).addMarker(DataTypes.TYPE_MARKER_ADAS, options1);
                 MogoMarkerOptions options2 = new MogoMarkerOptions()
-                        .owner( DataTypes.TYPE_MARKER_ADAS )
-                        .anchor( 0.5f, 0.5f )
-                        .set3DMode( false )
-                        .position( new MogoLatLng( 39.98232698552779, 116.41879656379113 ) )
-                        .gps( true )
-                        .controlAngle( false )
-                        .icon( BitmapFactory.decodeResource( context.getResources(), R.drawable.sr ) )
-                        .rotate( ( float ) 358.526123 );
-                IMogoMarker marker2 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( context ).addMarker( DataTypes.TYPE_MARKER_ADAS, options2 );
+                        .owner(DataTypes.TYPE_MARKER_ADAS)
+                        .anchor(0.5f, 0.5f)
+                        .set3DMode(false)
+                        .position(new MogoLatLng(39.98232698552779, 116.41879656379113))
+                        .gps(true)
+                        .controlAngle(false)
+                        .icon(BitmapFactory.decodeResource(context.getResources(), R.drawable.sr))
+                        .rotate((float) 358.526123);
+                IMogoMarker marker2 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(context).addMarker(DataTypes.TYPE_MARKER_ADAS, options2);
                 MogoMarkerOptions options3 = new MogoMarkerOptions()
-                        .owner( DataTypes.TYPE_MARKER_ADAS )
-                        .anchor( 0.5f, 0.5f )
-                        .set3DMode( false )
-                        .position( new MogoLatLng( 39.97631642243, 116.418249382739 ) )
-                        .gps( true )
-                        .controlAngle( false )
-                        .icon( BitmapFactory.decodeResource( context.getResources(), R.drawable.bg_map_marker_red ) )
-                        .rotate( ( float ) 358.526123 );
-                IMogoMarker marker3 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( context ).addMarker( DataTypes.TYPE_MARKER_ADAS, options3 );
+                        .owner(DataTypes.TYPE_MARKER_ADAS)
+                        .anchor(0.5f, 0.5f)
+                        .set3DMode(false)
+                        .position(new MogoLatLng(39.97631642243, 116.418249382739))
+                        .gps(true)
+                        .controlAngle(false)
+                        .icon(BitmapFactory.decodeResource(context.getResources(), R.drawable.bg_map_marker_red))
+                        .rotate((float) 358.526123);
+                IMogoMarker marker3 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(context).addMarker(DataTypes.TYPE_MARKER_ADAS, options3);
                 break;
             case 50://
-                DebugConfig.setSelfCarSpeedYOffset( intent.getIntExtra( "yOffset", 20 ) );
+                DebugConfig.setSelfCarSpeedYOffset(intent.getIntExtra("yOffset", 20));
                 break;
             case 51:// 模拟路口车辆移动
-                mLocationMockHandler.sendEmptyMessageDelayed( 100, 0L );
-                mLocationMockHandler.sendEmptyMessageDelayed( 101, 1000L );
+                mLocationMockHandler.sendEmptyMessageDelayed(100, 0L);
+                mLocationMockHandler.sendEmptyMessageDelayed(101, 1000L);
                 break;
-            case 52:// 打开连调工控机、ADAS的控制面板
-                EnvStatusManager.getInstance().showPanel( context );
+            case 52:
+                // 打开连调工控机、ADAS的控制面板
+                //adb shell am broadcast -a com.mogo.mock --ei oper 52
+                EnvStatusManager.getInstance().showPanel(context);
                 break;
             case 53:// 控制 Adas识别 是否可用
-                boolean isUseAdasRecognize = intent.getBooleanExtra( "status", false );
-                DebugConfig.setUseAdasRecognize( isUseAdasRecognize );
+                boolean isUseAdasRecognize = intent.getBooleanExtra("status", false);
+                DebugConfig.setUseAdasRecognize(isUseAdasRecognize);
                 break;
             case 54:
-                mTimeTickCarHandler.sendEmptyMessageDelayed( 1, 0L );
+                mTimeTickCarHandler.sendEmptyMessageDelayed(1, 0L);
                 break;
         }
     }
@@ -635,112 +627,112 @@ public class MockIntentHandler implements IntentHandler {
     private JSONObject locJo = null;
 
     private void handleMockSingleLocDataIntent() throws Exception {
-        if ( locJo == null ) {
+        if (locJo == null) {
             String locLine = "{\"systemTime\":1615529718585,\"satelliteTime\":1615529718585,\"lon\":116.73573385415098,\"lat\":40.19907712731953,\"alt\":34.4018669128417,\"heading\":0.342695406938048,\"speed\":0.003303937}";
-            locJo = new JSONObject( locLine );
-            locJo.put( "satelliteTime", System.currentTimeMillis() );
-            locJo.put( "systemTime", System.currentTimeMillis() );
+            locJo = new JSONObject(locLine);
+            locJo.put("satelliteTime", System.currentTimeMillis());
+            locJo.put("systemTime", System.currentTimeMillis());
         }
-        MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( locJo );
-        mLocationMockHandler.sendEmptyMessageDelayed( 100, 50L );
+        MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(locJo);
+        mLocationMockHandler.sendEmptyMessageDelayed(100, 50L);
     }
 
     private void handleRoadSideMockDataIntent() throws Exception {
-        if ( roadSizeBr == null ) {
-            roadSizeBr = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "roadSide.txt" ) ) );
+        if (roadSizeBr == null) {
+            roadSizeBr = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("roadSide.txt")));
         }
         String carsLine = roadSizeBr.readLine();
         MogoSnapshotSetData data = new MogoSnapshotSetData();
-        List< CloudRoadData > allList = GsonUtil.arrayFromJson( carsLine, CloudRoadData.class );
-        for ( CloudRoadData cloudRoadData : allList ) {
-            cloudRoadData.setWgslat( cloudRoadData.getLat() );
-            cloudRoadData.setWgslon( cloudRoadData.getLon() );
-            cloudRoadData.setFromType( CloudRoadData.FROM_ROAD_UNIT );
+        List<CloudRoadData> allList = GsonUtil.arrayFromJson(carsLine, CloudRoadData.class);
+        for (CloudRoadData cloudRoadData : allList) {
+            cloudRoadData.setWgslat(cloudRoadData.getLat());
+            cloudRoadData.setWgslon(cloudRoadData.getLon());
+            cloudRoadData.setFromType(CloudRoadData.FROM_ROAD_UNIT);
         }
-        data.setAllList( allList );
-        SnapshotSetDataDrawer.getInstance().renderSnapshotData( data );
-        mLocationMockHandler.sendEmptyMessageDelayed( 101, 100L );
+        data.setAllList(allList);
+        SnapshotSetDataDrawer.getInstance().renderSnapshotData(data);
+        mLocationMockHandler.sendEmptyMessageDelayed(101, 100L);
     }
 
 
-    public void onAdasCarDataCallback( ADASCarStateInfo stateInfo ) {
-        if ( stateInfo != null && stateInfo.getValues() != null ) {
+    public void onAdasCarDataCallback(ADASCarStateInfo stateInfo) {
+        if (stateInfo != null && stateInfo.getValues() != null) {
             JSONObject data = new JSONObject();
             try {
-                data.putOpt( "lon", stateInfo.getValues().getLon() );
-                data.putOpt( "lat", stateInfo.getValues().getLat() );
-                data.putOpt( "alt", stateInfo.getValues().getAlt() );
-                data.putOpt( "speed", stateInfo.getValues().getGnss_speed() );
-                data.putOpt( "satelliteTime", stateInfo.getValues().getSatelliteTime() );
-                data.putOpt( "heading", stateInfo.getValues().getHeading() );
-                data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
-                data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
-                MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
+                data.putOpt("lon", stateInfo.getValues().getLon());
+                data.putOpt("lat", stateInfo.getValues().getLat());
+                data.putOpt("alt", stateInfo.getValues().getAlt());
+                data.putOpt("speed", stateInfo.getValues().getGnss_speed());
+                data.putOpt("satelliteTime", stateInfo.getValues().getSatelliteTime());
+                data.putOpt("heading", stateInfo.getValues().getHeading());
+                data.putOpt("acceleration", stateInfo.getValues().getAcceleration());
+                data.putOpt("yawRate", stateInfo.getValues().getYaw_rate());
+                MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(data);
 //                SnapshotUploadInTime.getInstance().syncAdasLocationInfo( data );
-            } catch ( Exception e ) {
+            } catch (Exception e) {
                 e.printStackTrace();
             }
         }
     }
 
 
-    private Handler mLocationMockHandler = new Handler( WorkThreadHandler.newInstance( "loc-mock-thread" ).getLooper() ) {
+    private final Handler mLocationMockHandler = new Handler(WorkThreadHandler.newInstance("loc-mock-thread").getLooper()) {
         @Override
-        public void handleMessage( Message msg ) {
-            super.handleMessage( msg );
-            if ( msg.what == 1 ) {
+        public void handleMessage(Message msg) {
+            super.handleMessage(msg);
+            if (msg.what == 1) {
                 try {
-                    if ( !handleMockLocationIntent() ) {
+                    if (!handleMockLocationIntent()) {
                         br.close();
                         br = null;
                     }
-                } catch ( Exception e ) {
+                } catch (Exception e) {
                     try {
                         br.close();
-                    } catch ( IOException ex ) {
+                    } catch (IOException ex) {
                         ex.printStackTrace();
                     }
                     br = null;
                 }
-            } else if ( msg.what == 21 ) {
+            } else if (msg.what == 21) {
                 try {
                     handleMockSnapshotIntent2();
-                } catch ( Exception e ) {
+                } catch (Exception e) {
                     try {
                         br4.close();
-                    } catch ( IOException ex ) {
+                    } catch (IOException ex) {
                         ex.printStackTrace();
                     }
 
                 }
-            } else if ( msg.what == 3 ) {
+            } else if (msg.what == 3) {
                 try {
                     handleMockAdasIntent();
-                } catch ( Exception e ) {
+                } catch (Exception e) {
                     try {
-                        if ( readers != null ) {
-                            for ( BufferedReader reader : readers ) {
+                        if (readers != null) {
+                            for (BufferedReader reader : readers) {
                                 reader.close();
                             }
                         }
-                    } catch ( IOException ex ) {
+                    } catch (IOException ex) {
                         ex.printStackTrace();
                     }
                     readers = null;
                 }
-            } else if ( msg.what == 100 ) {
+            } else if (msg.what == 100) {
                 try {
                     handleMockSingleLocDataIntent();
-                } catch ( Exception e ) {
+                } catch (Exception e) {
                     e.printStackTrace();
                 }
-            } else if ( msg.what == 101 ) {
+            } else if (msg.what == 101) {
                 try {
                     handleRoadSideMockDataIntent();
-                } catch ( Exception e ) {
+                } catch (Exception e) {
                     try {
                         roadSizeBr.close();
-                    } catch ( IOException ex ) {
+                    } catch (IOException ex) {
                         ex.printStackTrace();
                     }
                     roadSizeBr = null;
@@ -748,16 +740,16 @@ public class MockIntentHandler implements IntentHandler {
             } else if (msg.what == 8) {
                 try {
                     handleMockAdasCarIntent();
-                } catch ( Exception e ) {
+                } catch (Exception e) {
                     try {
-                        if ( readers2 != null ) {
-                            for ( BufferedReader reader : readers2 ) {
+                        if (readers2 != null) {
+                            for (BufferedReader reader : readers2) {
                                 if (reader != null) {
                                     reader.close();
                                 }
                             }
                         }
-                    } catch ( IOException ex ) {
+                    } catch (IOException ex) {
                         ex.printStackTrace();
                     }
                     readers2 = null;
@@ -767,20 +759,20 @@ public class MockIntentHandler implements IntentHandler {
     };
 
 
-    private Handler mLocationMockHandler1 = new Handler( WorkThreadHandler.newInstance( "loc-mock-thread1" ).getLooper() ) {
+    private final Handler mLocationMockHandler1 = new Handler(WorkThreadHandler.newInstance("loc-mock-thread1").getLooper()) {
         @Override
-        public void handleMessage( Message msg ) {
-            super.handleMessage( msg );
-            if ( msg.what == 1 ) {
+        public void handleMessage(Message msg) {
+            super.handleMessage(msg);
+            if (msg.what == 1) {
                 try {
-                    if ( !handleMockLocationIntent() ) {
+                    if (!handleMockLocationIntent()) {
                         br.close();
                         br = null;
                     }
-                } catch ( Exception e ) {
+                } catch (Exception e) {
                     try {
                         br.close();
-                    } catch ( IOException ex ) {
+                    } catch (IOException ex) {
                         ex.printStackTrace();
                     }
                     br = null;
@@ -791,49 +783,49 @@ public class MockIntentHandler implements IntentHandler {
 
     private long mLocDelay = 0;
 
-    private Handler mTimeTickHandler = new Handler( WorkThreadHandler.newInstance( "loc-mock-thread2" ).getLooper() ) {
+    private final Handler mTimeTickHandler = new Handler(WorkThreadHandler.newInstance("loc-mock-thread2").getLooper()) {
         @Override
-        public void handleMessage( Message msg ) {
-            super.handleMessage( msg );
+        public void handleMessage(Message msg) {
+            super.handleMessage(msg);
             mLocDelay += 50;
-            if ( mLocDelay > 4_000L ) {
-                mLocationMockHandler1.sendEmptyMessageDelayed( 1, 0L );
+            if (mLocDelay > 4_000L) {
+                mLocationMockHandler1.sendEmptyMessageDelayed(1, 0L);
             }
-            mLocationMockHandler.sendEmptyMessageDelayed( 3, 0L );
-            mTimeTickHandler.sendEmptyMessageDelayed( 0, 50L );
+            mLocationMockHandler.sendEmptyMessageDelayed(3, 0L);
+            mTimeTickHandler.sendEmptyMessageDelayed(0, 50L);
         }
     };
 
-    private Handler mTimeTickCarHandler = new Handler( WorkThreadHandler.newInstance( "loc-time-mock-thread" ).getLooper() ) {
+    private final Handler mTimeTickCarHandler = new Handler(WorkThreadHandler.newInstance("loc-time-mock-thread").getLooper()) {
         @Override
-        public void handleMessage( Message msg ) {
-            super.handleMessage( msg );
+        public void handleMessage(Message msg) {
+            super.handleMessage(msg);
             mLocDelay += 50;
-            if ( mLocDelay > 4_000L ) {
-                mLocationMockHandler1.sendEmptyMessageDelayed( 1, 0L );
+            if (mLocDelay > 4_000L) {
+                mLocationMockHandler1.sendEmptyMessageDelayed(1, 0L);
             }
-            mLocationMockHandler.sendEmptyMessageDelayed( 8, 0L );
-            mTimeTickCarHandler.sendEmptyMessageDelayed( 0, 50L );
+            mLocationMockHandler.sendEmptyMessageDelayed(8, 0L);
+            mTimeTickCarHandler.sendEmptyMessageDelayed(0, 50L);
         }
     };
 
     private BufferedReader br;
 
     private boolean handleMockLocationIntent() throws Exception {
-        if ( br == null ) {
-            br = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "loc.txt" ) ) );
+        if (br == null) {
+            br = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("loc.txt")));
         }
         final long start = System.currentTimeMillis();
         String line = br.readLine();
-        if ( line == null ) {
-            throw new Exception( "end of file." );
+        if (line == null) {
+            throw new Exception("end of file.");
         }
-        JSONObject jo = new JSONObject( line );
+        JSONObject jo = new JSONObject(line);
         //改变rtk定位数据，触发自车移动
-        MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( jo );
-        Log.i( "mock-timer-loc-map", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
-        SnapshotLocationController.getInstance().syncAdasLocationInfo( jo );
-        Log.i( "mock-timer-loc", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+        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");
         return true;
     }
 
@@ -841,28 +833,28 @@ public class MockIntentHandler implements IntentHandler {
     private BufferedReader br4;
 
     private boolean handleMockSnapshotIntent2() throws Exception {
-        if ( br4 == null ) {
-            br4 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "snapshot.txt" ) ) );
+        if (br4 == null) {
+            br4 = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("snapshot.txt")));
         }
         String line = br4.readLine();
-        if ( line == null ) {
-            throw new Exception( "end of file 2." );
+        if (line == null) {
+            throw new Exception("end of file 2.");
         }
         MogoSnapshotSetData data = new MogoSnapshotSetData();
-        List< CloudRoadData > allList = new ArrayList<>();
-        CloudRoadData cloudRoadData = GsonUtil.objectFromJson( line, CloudRoadData.class );
-        if ( cloudRoadData == null ) {
+        List<CloudRoadData> allList = new ArrayList<>();
+        CloudRoadData cloudRoadData = GsonUtil.objectFromJson(line, CloudRoadData.class);
+        if (cloudRoadData == null) {
             return false;
         }
-        cloudRoadData.setWgslon( cloudRoadData.getLon() );
-        cloudRoadData.setWgslat( cloudRoadData.getLat() );
-        cloudRoadData.setUuid( "1_21" );
-        allList.add( cloudRoadData );
-        data.setAllList( allList );
+        cloudRoadData.setWgslon(cloudRoadData.getLon());
+        cloudRoadData.setWgslat(cloudRoadData.getLat());
+        cloudRoadData.setUuid("1_21");
+        allList.add(cloudRoadData);
+        data.setAllList(allList);
 
         final long start = System.currentTimeMillis();
-        SnapshotSetDataDrawer.getInstance().renderSnapshotData( data );
-        Log.i( "mock-timer-snapshot", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+        SnapshotSetDataDrawer.getInstance().renderSnapshotData(data);
+        Log.i("mock-timer-snapshot", "cost " + (System.currentTimeMillis() - start) + "ms");
 //        mLocationMockHandler.sendEmptyMessageDelayed( 21, 100L );
         return true;
     }
@@ -873,58 +865,58 @@ public class MockIntentHandler implements IntentHandler {
     private boolean handleMockAdasIntent() throws Exception {
         final long start = System.currentTimeMillis();
 
-        if ( readers == null ) {
+        if (readers == null) {
             readers = new BufferedReader[10];
-            for ( int i = 0; i < 10; i++ ) {
-                readers[i] = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas" + i + ".txt" ) ) );
+            for (int i = 0; i < 10; i++) {
+                readers[i] = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("adas" + i + ".txt")));
             }
         }
 
-        List< ADASRecognizedResult > allList = new ArrayList<>();
-        for ( BufferedReader reader : readers ) {
+        List<ADASRecognizedResult> allList = new ArrayList<>();
+        for (BufferedReader reader : readers) {
             String line = reader.readLine();
-            ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
-            if ( adasRecognizedResult != null ) {
-                allList.add( adasRecognizedResult );
+            ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson(line, ADASRecognizedResult.class);
+            if (adasRecognizedResult != null) {
+                allList.add(adasRecognizedResult);
             }
         }
 
         AdasRec adasRec = new AdasRec();
         adasRec.models = allList;
 
-        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized( GsonUtil.jsonFromObject( adasRec ) );
-        Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(GsonUtil.jsonFromObject(adasRec));
+        Log.i("mock-timer-adas", "cost " + (System.currentTimeMillis() - start) + "ms");
         return true;
     }
 
     private boolean handleMockAdasCarIntent() throws Exception {
         final long start = System.currentTimeMillis();
 
-        if ( readers2 == null ) {
+        if (readers2 == null) {
             readers2 = new BufferedReader[3];
-            for ( int i = 0; i < 3; i++ ) {
-                readers2[i] = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adascar" + i + ".txt" ) ) );
+            for (int i = 0; i < 3; i++) {
+                readers2[i] = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("adascar" + i + ".txt")));
             }
         }
 
-        List< ADASRecognizedResult > allList = new ArrayList<>();
-        for ( BufferedReader reader : readers2 ) {
+        List<ADASRecognizedResult> allList = new ArrayList<>();
+        for (BufferedReader reader : readers2) {
             String line = reader.readLine();
-            ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
-            if ( adasRecognizedResult != null ) {
-                allList.add( adasRecognizedResult );
+            ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson(line, ADASRecognizedResult.class);
+            if (adasRecognizedResult != null) {
+                allList.add(adasRecognizedResult);
             }
         }
 
         AdasRec adasRec = new AdasRec();
         adasRec.models = allList;
 
-        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized( GsonUtil.jsonFromObject( adasRec ) );
-        Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(GsonUtil.jsonFromObject(adasRec));
+        Log.i("mock-timer-adas", "cost " + (System.currentTimeMillis() - start) + "ms");
         return true;
     }
 
-    public static class AdasRec{
+    public static class AdasRec {
         public String action = "view";
         public List<ADASRecognizedResult> models;
     }
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 72db237f88..ec4f3ff48c 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
@@ -8,6 +8,7 @@ import android.os.Message;
 import android.text.TextUtils;
 import android.util.Log;
 
+import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.map.MogoLatLng;
@@ -16,6 +17,7 @@ import com.mogo.map.marker.IMogoMarkerClickListener;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
+import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.module.common.ModuleNames;
@@ -36,12 +38,15 @@ import com.mogo.module.common.entity.MarkerLocation;
 import com.mogo.module.common.entity.MarkerOnlineCar;
 import com.mogo.module.common.entity.MarkerResponse;
 import com.mogo.module.common.entity.MarkerShowEntity;
+import com.mogo.module.common.entity.V2XWarningEntity;
 import com.mogo.module.common.utils.CloudPoiManager;
+import com.mogo.module.common.utils.Trigonometric;
 import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.R;
 import com.mogo.module.service.ServiceConst;
 import com.mogo.module.service.network.RefreshCallback;
 import com.mogo.module.service.network.RefreshModel;
+import com.mogo.module.service.polyline.LimberCollisionPolyline;
 import com.mogo.realtime.api.MoGoAiCloudRealTime;
 import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.realtime.entity.MogoSnapshotSetData;
@@ -62,6 +67,7 @@ import org.json.JSONException;
 import org.json.JSONObject;
 
 import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -161,24 +167,58 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
                 msg.sendToTarget();
             }
         } );
+
         // adas 每隔一秒传递的数据
         MarkerServiceHandler.getApis().getAdasControllerApi().addAdasRecognizedDataCallback( resultList -> {
             // 绘制近景识别到的车辆
             AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );
-            //绘制他车的线 liyz
 
-            //添加自车的定位图标，碰撞只有一个预警 TODO
+            //添加自车的定位图标，碰撞只有一个预警,还需要和adas 联调，还需要改 liyz
 //            ADASRecognizedResult result = null;
 //            for (int i = 0; i < resultList.size(); i++) {
 //                result = resultList.get(i);
+//                if (result.type) { //找出可能碰撞的车
+//                    result = resultList.get(i);
+//                }
+
+                //绘制他车的线,从列表中查出可能碰撞的车的经纬度(没有或者只有一个)，然后预设20米的长度
+                //绘制碰撞的他车指引线，需要实时给数据更新 TODO
+//                drawLimberCollisionPolyline(result);
 //            }
-//
-//            //通过这个传值 ADASRecognizedResult
-//            MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().setAdasRecognizedResult(GsonUtil.jsonFromObject(result));
+
+//            //通过这个传值到 AMapViewWrapper，根据数据更新自车的模型数据  ADASRecognizedResult
+//            MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().setAdasRecognizedResult(result);
 
         } );
     }
 
+
+    /**
+     * 实时绘制连线
+     * @param result
+     */
+    private void drawLimberCollisionPolyline(ADASRecognizedResult result) {
+        if (result != null) {
+            IMogoPolyline polyLine = LimberCollisionPolyline.getInstance().getPolyLine();
+            MogoLatLng startLatLng = new MogoLatLng(result.lat, result.lon);
+            MogoLatLng endLatlng = Trigonometric.getNewLocation(startLatLng, 20, result.heading);
+            Log.d(TAG, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat
+                    + "终点" + endLatlng.lon + "," + endLatlng.lat + "--heading =" + result.heading);
+            if (polyLine != null) {
+                Log.d(TAG, "drawStopLine polyLine != null");
+                polyLine.setPoints(Arrays.asList(startLatLng, endLatlng));
+            } else {
+                List<MogoLatLng> latLngs = new ArrayList<>();
+                latLngs.add(startLatLng);
+                latLngs.add(endLatlng);
+                LimberCollisionPolyline.getInstance().draw((float) result.roadWidth, latLngs);
+            }
+        } else {
+            LimberCollisionPolyline.getInstance().clearLine();
+        }
+    }
+
+
     private Handler mSnapshotHandler = new Handler( WorkThreadHandler.newInstance( "snapshot-thread" ).getLooper() ) {
         @Override
         public void handleMessage( Message msg ) {
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/polyline/LimberCollisionPolyline.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/polyline/LimberCollisionPolyline.java
new file mode 100644
index 0000000000..2ae17a8683
--- /dev/null
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/polyline/LimberCollisionPolyline.java
@@ -0,0 +1,88 @@
+package com.mogo.module.service.polyline;
+
+import com.mogo.map.MogoLatLng;
+import com.mogo.map.overlay.IMogoPolyline;
+import com.mogo.map.overlay.MogoPolylineOptions;
+import com.mogo.module.service.MarkerServiceHandler;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * @author lixiaopeng
+ * @description 前车碰撞的画线
+ * @since 2021/4/25
+ */
+public class LimberCollisionPolyline {
+
+    private volatile static LimberCollisionPolyline mInstance = null;
+
+    private IMogoPolyline mMoGoPolyline;
+    // 连接线参数
+    private MogoPolylineOptions mPolylineOptions;
+    // 线路径集合
+    private List<MogoLatLng> mPolylinePointList;
+
+
+    public static LimberCollisionPolyline getInstance() {
+        if (mInstance == null) {
+            synchronized (LimberCollisionPolyline.class) {
+                if (mInstance == null) {
+                    mInstance = new LimberCollisionPolyline();
+                }
+            }
+        }
+        return mInstance;
+    }
+
+    protected LimberCollisionPolyline() {
+        mPolylineOptions = new MogoPolylineOptions();
+        // 绘制路径集合
+        mPolylinePointList = new ArrayList<>();
+    }
+
+
+    public IMogoPolyline draw(float width, List<MogoLatLng> polylinePoint) {
+        try {
+            if (mMoGoPolyline != null) {
+                mMoGoPolyline.remove();
+                mPolylinePointList.clear();
+            }
+
+            // 连接线参数
+            MogoPolylineOptions options = new MogoPolylineOptions();
+
+            // 渐变色
+            List<Integer> colors = new ArrayList<>();
+//            colors.add(0x0DE32F46);
+            colors.add(0xD9E32F46);
+            colors.add(0x0DE32F46);
+
+            // 线条粗细，渐变，渐变色值 TODO liyz 宽度需要传过来
+            options.width(60).useGradient(true).colorValues(colors);
+            for (int i = 0; i < polylinePoint.size(); i++) {
+                options.add(polylinePoint.get(i));
+            }
+            // 绘制线的对象
+            mMoGoPolyline = MarkerServiceHandler.getsIMogoOverlayManager().addPolyline(options);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return mMoGoPolyline;
+    }
+
+
+    public IMogoPolyline getPolyLine() {
+        return mMoGoPolyline;
+    }
+
+    public void clearLine() {
+        if (mMoGoPolyline != null) {
+            mMoGoPolyline.remove();
+            mMoGoPolyline = null;
+        }
+    }
+
+
+}
+
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/status/EnvStatusManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/status/EnvStatusManager.java
index bc3cdc3824..75f0f85f6c 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/status/EnvStatusManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/status/EnvStatusManager.java
@@ -15,14 +15,14 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.wm.WindowManagerView;
 import com.mogo.module.service.R;
 
-public
-/**
+
+/*
  * @author congtaowang
  * @since 2021/3/17
  *
  * 环境状态
  */
-class EnvStatusManager {
+public class EnvStatusManager {
 
     private static volatile EnvStatusManager sInstance;
 
@@ -30,9 +30,9 @@ class EnvStatusManager {
     }
 
     public static EnvStatusManager getInstance() {
-        if ( sInstance == null ) {
-            synchronized ( EnvStatusManager.class ) {
-                if ( sInstance == null ) {
+        if (sInstance == null) {
+            synchronized (EnvStatusManager.class) {
+                if (sInstance == null) {
                     sInstance = new EnvStatusManager();
                 }
             }
@@ -51,13 +51,13 @@ class EnvStatusManager {
 
     private WindowManagerView mPanelView;
     private TextView mStatusTv;
-    private Handler mMainHandler = new Handler( Looper.getMainLooper() ) {
+    private final Handler mMainHandler = new Handler(Looper.getMainLooper()) {
         @Override
-        public void handleMessage( Message msg ) {
-            super.handleMessage( msg );
-            if ( mPanelView.isShowing() ) {
+        public void handleMessage(Message msg) {
+            super.handleMessage(msg);
+            if (mPanelView.isShowing()) {
                 renderStatus();
-                mMainHandler.sendEmptyMessageDelayed( MSG, 5_000L );
+                mMainHandler.sendEmptyMessageDelayed(MSG, 5_000L);
             }
         }
     };
@@ -69,54 +69,54 @@ class EnvStatusManager {
                 "近景",
                 "下发",
                 "AUTO",
-                "长链"
+                "长链",
+                "经度",
+                "纬度"
         };
         StringBuilder stringBuilder = new StringBuilder();
-        for ( int i = 0; i < sStatusName.length; i++ ) {
-            stringBuilder.append( sStatusName[i] ).append( ":" );
-            if ( i != 3 ) {
-                stringBuilder.append( "true".equals( DebugConfig.getStatus( i, true ) ) ? "正常" : "异常" ).append( "\n" );
+        for (int i = 0; i < sStatusName.length; i++) {
+            stringBuilder.append(sStatusName[i]).append(":");
+            if (i == 3) {
+                stringBuilder.append(DebugConfig.getAutoPilotStatus()).append("\n");
+            } else if (i == 5 || i == 6) {
+                stringBuilder.append(DebugConfig.getStatusData(i)).append("\n");
             } else {
-                stringBuilder.append( DebugConfig.getAutoPilotStatus() ).append( "\n" );
+                stringBuilder.append("true".equals(DebugConfig.getStatus(i, true)) ? "正常" : "异常").append("\n");
             }
         }
-        mStatusTv.setText( stringBuilder );
-        if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
-            mStatusTv.setTextColor( Color.WHITE );
+        mStatusTv.setText(stringBuilder);
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            mStatusTv.setTextColor(Color.WHITE);
         } else {
-            if ( MogoApisHandler.getInstance().getApis().getAdasControllerApi()
-                    .getCurrentSkinMode() == EnumMapUI.Type_Light ) {
-                mStatusTv.setTextColor( Color.BLACK );
+            if (MogoApisHandler.getInstance().getApis().getAdasControllerApi()
+                    .getCurrentSkinMode() == EnumMapUI.Type_Light) {
+                mStatusTv.setTextColor(Color.BLACK);
             } else {
-                mStatusTv.setTextColor( Color.WHITE );
+                mStatusTv.setTextColor(Color.WHITE);
             }
         }
     }
 
-    public void showPanel( Context context ) {
-        if ( mPanelView == null ) {
-            mPanelView = new WindowManagerView.Builder( context )
-                    .contentView( R.layout.module_services_status_panel )
-                    .position( 0, 100 )
-                    .size( ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT )
-                    .gravity( Gravity.TOP )
+    public void showPanel(Context context) {
+        if (mPanelView == null) {
+            mPanelView = new WindowManagerView.Builder(context)
+                    .contentView(R.layout.module_services_status_panel)
+                    .position(0, 100)
+                    .size(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT)
+                    .gravity(Gravity.TOP)
                     .showInWindowManager();
-            mPanelView.attachTouchEvent( ( ( view, xPos, yPos ) -> {
-                closePanel();
-            } ) );
-            mPanelView.findViewById( R.id.module_services_status_iv ).setOnClickListener( view -> {
-                closePanel();
-            } );
-            mStatusTv = mPanelView.findViewById( R.id.module_services_status_tv );
+            mPanelView.attachTouchEvent(((view, xPos, yPos) -> closePanel()));
+            mPanelView.findViewById(R.id.module_services_status_iv).setOnClickListener(view -> closePanel());
+            mStatusTv = mPanelView.findViewById(R.id.module_services_status_tv);
         }
         mPanelView.show();
-        mMainHandler.sendEmptyMessageDelayed( MSG, 0L );
+        mMainHandler.sendEmptyMessageDelayed(MSG, 0L);
     }
 
     public void closePanel() {
-        if ( mPanelView != null ) {
+        if (mPanelView != null) {
             mPanelView.dismiss();
-            mMainHandler.removeMessages( MSG );
+            mMainHandler.removeMessages(MSG);
         }
     }
 }
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
index dac23ba544..2c2e0b360e 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
@@ -41,7 +41,6 @@ import static com.mogo.module.v2x.V2XServiceManager.getContext;
  */
 public class V2XWaringManager {
 
-    List<MogoLatLng> lonLats = new ArrayList<>();
     private Context mContext;
 
     private static V2XWaringManager mV2XWaringManager;
@@ -111,7 +110,6 @@ public class V2XWaringManager {
         } catch (Exception e) {
             e.printStackTrace();
         }
-
     }
 
     /**
@@ -151,43 +149,6 @@ public class V2XWaringManager {
         String adasResult = (String) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
         //测试数据
         testData(adasResult);
-
-        // adas 每隔一秒传递的他车或行人数据，避免重复。
-//        V2XServiceManager.getmIMogoADASController().addAdasRecognizedDataCallback(resultList -> {
-//            // 处理他车车身变色，这个可以使用 TODO
-//            AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );
-//
-//            // adas自车定位，显示红色碰撞预警图，以及解除碰撞
-//            double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon();
-//            double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat();
-//            //需要把自车的经纬度前移到车头，然后打点红色的marker
-//
-//        } );
-
-    }
-
-
-    /**
-     * 添加2d的碰撞 marker
-     *
-     * @param markerShowEntity
-     * @return
-     */
-    private IMogoMarker drawMarker2dResource(MarkerShowEntity markerShowEntity) {
-        MogoLatLng mogoLatLng = new MogoLatLng(markerShowEntity.getMarkerLocation().getLat(), markerShowEntity.getMarkerLocation().getLon());
-        MogoLatLng newLocation = Trigonometric.getNewLocation(mogoLatLng, 8, 180);
-        MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
-                .latitude(newLocation.getLat())
-                .longitude(newLocation.getLon())
-                .anchor(1.0f, 1.0f)
-                .zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH);
-        optionsRipple
-                .icon(ViewUtils.fromView(new EmptyMarkerView(mContext)));
-        IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), optionsRipple);
-
-        marker.setInfoWindowAdapter(new AheadCollisionWindow3DAdapter(mContext));
-        marker.showInfoWindow();
-        return marker;
     }