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[sweeper] fix: 子任务开始时没开启子任务的问题；

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This commit is contained in:
aibingbing
2023-03-14 21:32:30 +08:00
parent ba2932c285
commit 08b5bd0655
1 changed files with 11 additions and 4 deletions
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15
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
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@@ -669,19 +669,26 @@ public class SweeperTaskModel {
@Override
public void onSuccess(BaseResponse<SweeperSubTaskDetailBean> data) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getSubTaskDetail：" + GsonUtil.jsonFromObject(data));
Log.d(M_SWEEPER + TAG, "getSubTaskDetail：" + GsonUtil.jsonFromObject(data));
if (data != null) {
mCurrentSubTaskDetail = data.getData();
if (mCurrentSubTaskDetail != null) {
mSweeperTaskCallback.setSubTakDetail(mCurrentSubTaskDetail, subTaskType);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getSubTaskDetail：subTaskType=" + subTaskType
+ ", isStartSubtask=" + isStartSubtask + ", mAutopilotState=" + mAutopilotState);
Log.d(M_SWEEPER + TAG, "getSubTaskDetail：subTaskType=" + subTaskType
+ ", isStartSubtask=" + isStartSubtask + ", mAutopilotState=" + mAutopilotState);
if (subTaskType == SubTaskTypeEnum.AUTOPILOT_SUBTYPE) {//自动驾驶子任务
//向自动驾驶发送要下载文件轨迹路径
SweeperTrajectoryManager.getInstance().syncTrajectoryInfo(mCurrentSubTaskDetail);
updateAutopilotControlParameters();
/**
* 在自动驾驶状态
*/
if (isStartSubtask && mAutopilotState == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {//是否需要自动开始执行任务
// 不在启动驾驶状态也需要先开启子任务
if (isStartSubtask) {//是否需要自动开始执行任务
subTaskStart(isFirst, isEnd, subTaskId, subTaskType);
if (mAutopilotState == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
cancelAutoPilot();
startAutopilot();
}
}
}
}