diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
index 2dbb54abdf..54945e8432 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
@@ -117,28 +117,28 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         setBottomBtnListener();
         // 模拟 查询当前任务
         findViewById(R.id.btnQueryCurrentTask).setOnClickListener(view ->
-               SweeperCloudTaskUtils.mockQueryCurrentTaskInfo()
+                SweeperCloudTaskUtils.mockQueryCurrentTaskInfo()
         );
         // 模拟 云端发送任务
         findViewById(R.id.btnSendTask).setOnClickListener(view ->
-                mockSendCloudTaskInfo()
+                SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask)
         );
         // 模拟 云端发送子任务确认
         findViewById(R.id.btnSendSubTaskConfirm).setOnClickListener(view ->
-                mockSendCloudSubTaskConfirm()
+                SweeperCloudTaskUtils.mockSendCloudSubTaskConfirm()
         );
 
         // 模拟 云端请求结束大任务
         findViewById(R.id.btnSendEndTask).setOnClickListener(view ->
-                mockSendCloudEndBigTask()
+                SweeperCloudTaskUtils.mockSendCloudBigTaskEnd()
         );
         // 模拟 云端发送子任务状态
         findViewById(R.id.btnSendSubtaskStatus).setOnClickListener(view ->
-                mockSendCloudSubTaskStatus()
+                SweeperCloudTaskUtils.mockSendCloudUpdateSubTaskStatus()
         );
         // 模拟 云端发送大任务状态
         findViewById(R.id.btnSendTaskStatus).setOnClickListener(view ->
-                mockSendCloudBigTaskStatus()
+                SweeperCloudTaskUtils.mockSendCloudBigTaskStatus()
         );
         mTrafficDataView.getSpeedImage().setOnLongClickListener(new View.OnLongClickListener() {
             @Override
@@ -483,41 +483,18 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     public void setTaskDataToFragmentCallback(ISweeperTaskDataToFragmentCallback mTaskDataToFragmentCallback) {
         this.mTaskDataToFragmentCallback = mTaskDataToFragmentCallback;
     }
-
+    /**
+     * 模拟pad获取正在执行的任务
+     */
+    public void mockCloudTaskInfo() {
+        SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask);
+    }
     /**
      * 模拟云端发送任务信息
      */
     public void mockSendCloudTaskInfo() {
-        SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.PadSendGetTaskReq);
+        SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask);
     }
-
-    /**
-     * 模拟云端发送子任务确认
-     */
-    public void mockSendCloudSubTaskConfirm() {
-        SweeperCloudTaskUtils.mockSendCloudSubTaskConfirm();
-    }
-
-    /**
-     * 模拟云端发送结束大任务
-     */
-    public void mockSendCloudEndBigTask() {
-        SweeperCloudTaskUtils.mockSendCloudBigTaskEnd();
-    }
-    /**
-     * 模拟云端发送子任务状态
-     */
-    public void mockSendCloudSubTaskStatus() {
-        SweeperCloudTaskUtils.mockSendCloudUpdateSubTaskStatus();
-    }
-
-    /**
-     * 模拟云端发送大任务状态
-     */
-    public void mockSendCloudBigTaskStatus() {
-       SweeperCloudTaskUtils.mockSendCloudBigTaskStatus();
-    }
-
     /**
      * 结束子任务
      */
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
index 89ae5840f2..c1abd55103 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -109,9 +109,9 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
      */
     private fun initListener() {
         getCurrentView().getAutoBtn().setOnClickListener {
-            //前置条件 必须处于人工驾驶，并且有正在执行的子任务，才能请求云端进入自驾
+            //前置条件 (1)必须处于人工驾驶状态 （2）必须有正在执行的子任务，且子任务类型为自动驾驶子任务 才能请求云端进入自驾
             mCurrentSubTaskInfo?.let {
-                if (mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE) {
+                if (mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE&&it.taskModel==TaskModel.AUTO) {
                     mLoadingDialog.showLoading()
                     mPresenter?.sendSweeperAutopilotBootable(mTaskInfo?.taskId, it.subTaskId, it.lineId.toLong())
                 }
@@ -477,7 +477,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             }
             mDialog = createReceivedTaskInfoDialog(context, object : SweeperCloudDialogClickListener {
                 override fun onConfirm() {
-                    ToastUtils.showLong("确认")
+                    //ToastUtils.showLong("确认")
                     mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM)
                     setShowCurrentTaskPanelView(true)
                     getCurrentView().setData(it)
@@ -486,14 +486,14 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 }
 
                 override fun onRefuseOrEnd() {
-                    ToastUtils.showLong("拒绝")
+                    //ToastUtils.showLong("拒绝")
                     setShowCurrentTaskPanelView(false)
                     mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_REFUSE)
                     mLoadingDialog.showLoading()
                 }
 
                 override fun onCountDownStop() {
-                    ToastUtils.showLong("倒计时结束")
+                    //ToastUtils.showLong("倒计时结束")
                     setShowCurrentTaskPanelView(false)
                     mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.OVER_TIME)
                     mLoadingDialog.showLoading()
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
index 1aa2a617a9..5021ed81e1 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
@@ -3,7 +3,6 @@ package com.mogo.och.sweepercloud.model;
 import android.content.Context;
 
 import com.amap.api.maps.model.LatLng;
-import com.elegant.utils.UiThreadHandler;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.IMogoStatusChangedListener;
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
index 89f0c51c32..0dfbc0ac38 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
@@ -30,7 +30,9 @@ object SweeperCloudTaskUtils {
      */
     @JvmStatic
     fun mockQueryCurrentTaskInfo() {
-        SweeperTaskModel.getInstance().getCurrentTask()
+        UiThreadHandler.getsUiHandler().postDelayed({
+            mockSendCloudTaskInfo(MessageType.PadSendGetTaskReq)
+        },1000)
     }
 
     /**
@@ -88,6 +90,8 @@ object SweeperCloudTaskUtils {
         endLocation1.longitude = 121.43138115208806
         endLocation1.latitude = 37.52987767688798
         subBuilder1.endLocation = endLocation1.build()
+        subBuilder1.lineId = 124
+        subBuilder1.lineName = "测试路线1"
         builder.addSubList(subBuilder1.build())
         //第三个子任务
         val subBuilder2 = SubTaskInfo.newBuilder()
@@ -109,6 +113,8 @@ object SweeperCloudTaskUtils {
         endLocation2.longitude = 121.46030960742117
         endLocation2.latitude = 37.48032689641474
         subBuilder2.endLocation = endLocation2.build()
+        subBuilder2.lineId = 125
+        subBuilder2.lineName = "测试路线2"
         builder.addSubList(subBuilder2.build())
         //第四个子任务
         val subBuilder3 = SubTaskInfo.newBuilder()
@@ -130,6 +136,8 @@ object SweeperCloudTaskUtils {
         endLocation3.longitude = 121.46030960742117
         endLocation3.latitude = 37.48032689641474
         subBuilder3.endLocation = endLocation3.build()
+        subBuilder3.lineId = 126
+        subBuilder3.lineName = "测试路线3"
         builder.addSubList(subBuilder3.build())
         SweeperTaskModel.getInstance().onSweeperFutianCloudTask(
             messageType,
@@ -179,7 +187,7 @@ object SweeperCloudTaskUtils {
         val builder = SweeperTaskStop.StopTaskReq.newBuilder()
         builder.sn = getDriverSn()
         builder.taskId = "10"
-        builder.type = SweeperTaskStop.StopTaskType.NORMAL
+        builder.type = SweeperTaskStop.StopTaskType.ADVANCE
         SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStop(
             MessageType.CloudPushTaskStop, "${System.currentTimeMillis()}",
             System.currentTimeMillis(), builder.build()
@@ -194,7 +202,7 @@ object SweeperCloudTaskUtils {
         val builder = SweeperBigTaskStatus.BigTaskStatusPush.newBuilder()
         builder.sn = getDriverSn()
         builder.taskId = "10"
-        builder.taskStatus = BigTaskStatus.CANCLE
+        builder.taskStatus = BigTaskStatus.RUNNING
         builder.systemTime = System.currentTimeMillis()
         SweeperTaskModel.getInstance().onSweeperFutianCloudBigTaskStatus(
             MessageType.CloudPushBigTaskStatus, "${System.currentTimeMillis()}",
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml
index e6970921d5..ff26c61d57 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml
@@ -1,4 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
-<gradient android:startColor="#2A537F" android:endColor="#263A5B" android:angle="135"/>
+<gradient android:startColor="#2A537F" android:endColor="#263A5B" android:angle="315"/>
+<corners android:radius="@dimen/dp_45"/>
 </shape>
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_left_bottom_round.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_left_bottom_round.xml
index 76e59781e4..5d247295b3 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_left_bottom_round.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_left_bottom_round.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
-<gradient android:startColor="#20AAFF" android:endColor="#2F6EFF" android:angle="315"/>
+<gradient android:startColor="#20AAFF" android:endColor="#2F6EFF" android:angle="180"/>
 <corners android:bottomLeftRadius="@dimen/dp_45" />
 </shape>
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/shape_sweeper_cloud_rotation.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/shape_sweeper_cloud_rotation.xml
index 2cd19d1ad2..e5d5e1fd4d 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/shape_sweeper_cloud_rotation.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/shape_sweeper_cloud_rotation.xml
@@ -2,7 +2,7 @@
 <shape xmlns:android="http://schemas.android.com/apk/res/android"
     android:innerRadiusRatio="3"
     android:shape="ring"
-    android:thicknessRatio="10"
+    android:thicknessRatio="16"
     android:useLevel="false">
     <gradient
         android:endColor="#6020AAFF"
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml b/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml
index 8050e1dc04..424034563e 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml
@@ -1,17 +1,26 @@
 <?xml version="1.0" encoding="utf-8"?>
-<com.mogo.och.common.module.wigets.OCHRoundConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<com.mogo.och.common.module.wigets.OCHBorderShadowLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="@dimen/dp_800"
-    android:layout_height="@dimen/dp_560"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
     android:layout_gravity="center"
-    android:background="@drawable/bg_shape_dialog_cloud_view"
-    app:roundLayoutRadius="@dimen/dp_45">
-
+    app:bgColor="#00000000"
+    app:blurRadius="@dimen/dp_28"
+    app:shadowColor="#80121526"
+    app:shadowRadius="@dimen/dp_45"
+    app:shadow_position="outer"
+    app:xOffset="0dp"
+    app:yOffset="0dp">
+    <androidx.constraintlayout.widget.ConstraintLayout
+        android:layout_width="@dimen/dp_800"
+        android:layout_height="@dimen/dp_560"
+        android:layout_gravity="center"
+        android:background="@drawable/bg_shape_dialog_cloud_view">
     <ImageView
         android:id="@+id/sweeper_cloud_imageview"
-        android:layout_width="@dimen/dp_75"
-        android:layout_height="@dimen/dp_75"
+        android:layout_width="@dimen/dp_84"
+        android:layout_height="@dimen/dp_84"
         android:layout_marginStart="@dimen/dp_30"
         android:layout_marginTop="@dimen/dp_30"
         android:src="@drawable/shape_sweeper_cloud_rotation"
@@ -20,8 +29,8 @@
 
     <com.mogo.och.sweepercloud.view.CountDownView
         android:id="@+id/sweeper_cloud_countdown"
-        android:layout_width="@dimen/dp_75"
-        android:layout_height="@dimen/dp_75"
+        android:layout_width="@dimen/dp_84"
+        android:layout_height="@dimen/dp_84"
         android:gravity="center"
         android:textColor="@color/white"
         android:textSize="@dimen/dp_32"
@@ -120,4 +129,5 @@
             android:textSize="@dimen/dp_50"
             tools:text="拒绝" />
     </LinearLayout>
-</com.mogo.och.common.module.wigets.OCHRoundConstraintLayout>
\ No newline at end of file
+    </androidx.constraintlayout.widget.ConstraintLayout>
+</com.mogo.och.common.module.wigets.OCHBorderShadowLayout>
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
index 145ff195ca..c395f97bdb 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
@@ -190,7 +190,7 @@
         android:layout_height="wrap_content"
         android:layout_marginTop="@dimen/dp_200"
         android:background="#f80"
-        android:text="查询当前任务"
+        android:text="pad查询当前任务"
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
@@ -200,7 +200,7 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:background="#f00"
-        android:text="发送任务"
+        android:text="接收云控任务"
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@+id/btnQueryCurrentTask"
         app:layout_constraintTop_toBottomOf="@+id/btnQueryCurrentTask" />
@@ -210,7 +210,7 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:background="#0f0"
-        android:text="子任务开始确认"
+        android:text="云控子任务确认"
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@id/btnSendTask"
         app:layout_constraintTop_toBottomOf="@id/btnSendTask" />
@@ -220,7 +220,7 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:background="#00f"
-        android:text="结束大任务"
+        android:text="云控结束大任务"
         android:textColor="#fff"
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@id/btnSendTask"
@@ -231,7 +231,7 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:background="#ffffff"
-        android:text="子任务状态"
+        android:text="云控子任务状态"
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@id/btnSendEndTask"
         app:layout_constraintTop_toBottomOf="@id/btnSendEndTask" />
@@ -241,7 +241,7 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:background="#000000"
-        android:text="大任务状态"
+        android:text="云控大任务状态"
         android:textColor="#fff"
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@id/btnSendSubtaskStatus"