From 0602e558a296c4b2a4eb17e059122c620a2680ba Mon Sep 17 00:00:00 2001
From: xinfengkun <xinfengkun@zhidaoauto.com>
Date: Thu, 16 Feb 2023 13:35:55 +0800
Subject: [PATCH] =?UTF-8?q?[2.14.0][adas=20lib]=20=E5=A2=9E=E5=8A=A0AutoPi?=
 =?UTF-8?q?lotReady=E5=AD=97=E6=AE=B5=E6=98=AF=E5=90=A6=E5=AD=98=E5=9C=A8?=
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 =?UTF-8?q?MAP=E7=89=88=E6=9C=AC=E5=92=8CSSM=20Maser=E7=89=88=E6=9C=AC?=
 =?UTF-8?q?=E4=B8=8D=E5=8C=B9=E9=85=8D=E5=AF=BC=E8=87=B4=E5=88=A4=E6=96=AD?=
 =?UTF-8?q?=E5=87=BA=E9=94=99=E9=97=AE=E9=A2=98=EF=BC=8C=E7=BB=86=E5=8C=96?=
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---
 .../adas/high/common/AutopilotAbilityManager.java        | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
index da5124b491..0e9ebd13de 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
@@ -113,7 +113,8 @@ public class AutopilotAbilityManager {
                     }
                 }
             }
-            if (version > 1) {
+            //如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
+            if (version > 1 && statusInfo.hasAutoPilotReady()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
                     SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
@@ -126,12 +127,12 @@ public class AutopilotAbilityManager {
                             if (state < NODE_INFO_STATE.length) {
                                 builder.append(NODE_INFO_STATE[state]);
                             } else {
-                                builder.append("未知 ");
+                                builder.append("未知异常 ");
                             }
                         }
                         unableAutopilotReason = builder.toString();
                     } else {
-                        unableAutopilotReason = "未知";
+                        unableAutopilotReason = "未知异常节点";
                     }
                 }
             } else {
@@ -153,7 +154,7 @@ public class AutopilotAbilityManager {
                     } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_RUNNING) {
                         unableAutopilotReason = "平行驾驶运行中";
                     } else {
-                        unableAutopilotReason = "未知";
+                        unableAutopilotReason = "未知系统状态";
                     }
                 }
             }