From 08b5bd065524b834370f3a8d65858d7af07920c8 Mon Sep 17 00:00:00 2001 From: aibingbing Date: Tue, 14 Mar 2023 21:32:30 +0800 Subject: [PATCH] =?UTF-8?q?[sweeper]=20fix:=20=E5=AD=90=E4=BB=BB=E5=8A=A1?= =?UTF-8?q?=E5=BC=80=E5=A7=8B=E6=97=B6=E6=B2=A1=E5=BC=80=E5=90=AF=E5=AD=90?= =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E7=9A=84=E9=97=AE=E9=A2=98=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mogo/och/sweeper/model/SweeperTaskModel.java | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java index 830675e8b4..5cd85cdb11 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java @@ -669,19 +669,26 @@ public class SweeperTaskModel { @Override public void onSuccess(BaseResponse 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(); + } } } }