From 2e34f32100085b5131b6d8135ed51d9bf57166f5 Mon Sep 17 00:00:00 2001
From: yangyakun <yangyakun@zhidaoauto.com>
Date: Thu, 7 Sep 2023 14:33:19 +0800
Subject: [PATCH 1/2] =?UTF-8?q?[6.0.0]=20[=E6=97=A0=E4=BA=BA=20=E6=9C=AA?=
 =?UTF-8?q?=E5=88=B0=E7=AB=99=E5=B0=8F=E4=BA=8E15m=20=E9=80=9F=E5=BA=A6?=
 =?UTF-8?q?=E5=B0=8F=E4=BA=8E0.3=20=E7=9B=B4=E6=8E=A5=E6=8A=A5=E5=88=B0?=
 =?UTF-8?q?=E7=AB=99=20=20=E6=9C=89=E4=BA=BA=E6=B7=BB=E5=8A=A0=E7=8E=B0?=
 =?UTF-8?q?=E6=9C=89=E9=80=BB=E8=BE=91]?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../com/mogo/och/taxi/model/TaxiModel.java    | 20 +++++++++++++------
 .../mogo/och/taxi/ui/task/TaxiTaskModel.kt    |  4 ++--
 2 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index 72949aaf42..29f1eb993d 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -1142,15 +1142,23 @@ public class TaxiModel {
 
             CallerLogger.i(M_TAXI + TAG, "judgeEndStation() stationAngle = " + stationAngle);
 
+            if (!checkCurrentOCHOrder()
+                    || getCurOrderStatus() != TaxiOrderStatusEnum.ArriveAtEnd
+            ) {
+                CallerLogger.i(M_TAXI + TAG, "order exception or order ArriveAtEnd");
+                return;
+            }
+
             //3、刚过站且过站距离在15m内， 提交到站
-            if (stationAngle > 90 && distance <= TaxiConst.ARRIVE_AT_START_STATION_DISTANCE){
-                if (!checkCurrentOCHOrder()
-                        || (getCurOrderStatus() == TaxiOrderStatusEnum.ArriveAtEnd)) {
-                    CallerLogger.i(M_TAXI + TAG, "order exception or order ArriveAtEnd");
-                    return;
-                }
+            if (stationAngle > 90) {
                 CallerLogger.i(M_TAXI + TAG, "judgeEndStation() = 刚过站且在15m内");
                 arriveTerminal();
+            } else {
+                // 4、 没有过站距离小于15m 速度小于0.3(根据M1来的模数 可能要调)
+                if (currentLocation.getGnssSpeed() < 0.3) {
+                    CallerLogger.i(TAG, "judgeEndStation() = 没有过站、速度基本为零且在15m内")
+                    arriveTerminal();
+                }
             }
         }
 
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
index 9190377910..31b6d28dc4 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
@@ -1274,8 +1274,8 @@ object TaxiTaskModel {
                 )
                 submitArriveSite(endSite.siteId, true)
             } else {
-                // 4、 没有过站距离小于15m 速度小于0.5(根据M1来的模数 可能要调)
-                if (currentLocation.gnssSpeed < 0.5) {
+                // 4、 没有过站距离小于15m 速度小于0.3(根据M1来的模数 可能要调)
+                if (currentLocation.gnssSpeed < 0.3) {
                     i(TAG, "judgeEndStation() = 没有过站、速度基本为零且在15m内")
                     DebugView.printInfoMsg(
                         "[自车定位围栏] 触发围栏，任务类型：${

From 28340cc459530717e8d4e138aa120bf5c309326f Mon Sep 17 00:00:00 2001
From: yangyakun <yangyakun@zhidaoauto.com>
Date: Thu, 7 Sep 2023 14:49:20 +0800
Subject: [PATCH 2/2] =?UTF-8?q?[6.0.0]=20[=E5=9B=B4=E6=A0=8F=E8=A7=A6?=
 =?UTF-8?q?=E5=8F=91=E5=88=B0=E7=AB=99=E5=8E=BB=E6=8E=89=E9=9D=9E=E8=87=AA?=
 =?UTF-8?q?=E9=A9=BE=E5=88=A4=E6=96=AD]?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../src/main/java/com/mogo/och/taxi/model/TaxiModel.java       | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index 29f1eb993d..92c1512be1 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -1096,8 +1096,7 @@ public class TaxiModel {
                 if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToStart) {
                     judgeStartStation(gnssInfo);
                 }
-                if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd &&
-                        CallerAutoPilotStatusListenerManager.INSTANCE.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
+                if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd) {
                     judgeEndStation(gnssInfo);
                 }
             }