[6.4.0]

[启动自驾 拦截顺序整理]

OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java

@@ -533,7 +533,6 @@ public class OrderModel {
                             CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
                             // 取消自驾
                             setTrajectoryStation(null,null,-1L);
-                            //                           startOrStopQueryPassengerWriteOff(false);
                         }
                     }
 
@@ -621,7 +620,7 @@ public class OrderModel {
         // 非自驾状态---->预写日志---->  启动自驾 ---> 自驾启动成功 ----> 上报日志
         // 　自驾状态---->启动自驾 ---> 自驾启动成功
 
-        //根据开关和后台是否发布轨迹启动自驾
+        //1、判断轨迹url是否可用
         if (FunctionBuildConfig.isPassStartAutopilotCommand
                 && TextUtils.isEmpty(busRoutesResult.csvFileUrl)
                 && TextUtils.isEmpty(busRoutesResult.csvFileUrlDPQP)
@@ -633,7 +632,7 @@ public class OrderModel {
               + "busRoutesResult.csvFileUrlDPQP = "+busRoutesResult.csvFileUrlDPQP);
             return;
         }
-
+        //2、6个条件判断
         if (!CallerAutoPilotControlManager.INSTANCE.isCanStartAutopilot(true)) {
             return;
         }
@@ -641,14 +640,7 @@ public class OrderModel {
         CallerLogger.e(M_BUS + TAG, "isPassStartAutopilotCommand = " +
                 FunctionBuildConfig.isPassStartAutopilotCommand);
 
-
+        //3、距离轨迹15m计算
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
-            ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
-                    ", 请稍候重试");
-            triggerUnableStartAPReasonEvent();
-            return;
-        }
-
         String resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId());
         if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){
             MogoLocation nextStationPoint = new MogoLocation();
@@ -661,7 +653,7 @@ public class OrderModel {
             MogoLocation currentStationPoint = new MogoLocation();
             currentStationPoint.setLongitude(busStationBean.getGcjLon());
             currentStationPoint.setLatitude(busStationBean.getGcjLat());
-            setTrajectoryStation(currentStationPoint,nextStationPoint, (long) currentLineId);
+            setTrajectoryStation(currentStationPoint,nextStationPoint, (long)busRoutesResult.getLineId());
             resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId());
         }
         if(!StringUtils.isEmpty(resion)){
@@ -669,6 +661,16 @@ public class OrderModel {
             return;
         }
 
+        //4、ssm 给出数据
+        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
+            ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
+                    ", 请稍候重试");
+            triggerUnableStartAPReasonEvent();
+            return;
+        }
+
+
+
         firstStartAutopilot++;
 
         if(CallerAutoPilotStatusListenerManager.INSTANCE.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
@@ -1282,26 +1284,6 @@ public class OrderModel {
         return parameters;
     }
 
-    public void setStation(){
-        BusStationBean busStationBean = stationList.get(backgroundCurrentStationIndex);
-        String nextStationName = "";
-        String nextStationNameKr = "";
-        MogoLocation nextStationPoint = new MogoLocation();
-        if (backgroundCurrentStationIndex < stationList.size() - 1) {
-            BusStationBean nextStation = stationList.get(backgroundCurrentStationIndex + 1);
-            nextStationName = nextStation.getName();
-            nextStationNameKr = nextStation.getNameKr();
-            nextStationPoint.setLongitude(nextStation.getGcjLon());
-            nextStationPoint.setLatitude(nextStation.getGcjLat());
-        }
-        final String currentStationName = busStationBean.getName();
-        String finalNextStationName = nextStationName;
-        String finalNextStationNameKr = nextStationNameKr;
-        MogoLocation currentStationPoint = new MogoLocation();
-        currentStationPoint.setLongitude(busStationBean.getGcjLon());
-        currentStationPoint.setLatitude(busStationBean.getGcjLat());
-    }
-
     public void setTrajectoryStation(MogoLocation startStation,MogoLocation endStation,Long lineId){
         TrajectoryAndDistanceManager.INSTANCE.setStationPoint(startStation,endStation,lineId);
     }

OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt

@@ -37,16 +37,9 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.*
-import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager
-import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager.pushAppOperationalMsgBox
-import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager.registerSocketMessageListener
-import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager.releaseSocketMessageListener
-import com.mogo.och.common.module.constant.OchCommonConst
-import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.common.module.biz.login.LoginStatusManager
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback
-import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManager.startLoopAbnormalFactors
+import com.mogo.och.common.module.constant.OchCommonConst
-import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManager.stopLoopAbnormalFactors
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager.ARRIVE_STATION
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager.END_TRIP
@@ -55,6 +48,12 @@ import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
 import com.mogo.och.common.module.manager.device.LightAirconditionDoorManager
 import com.mogo.och.common.module.manager.device.LightAirconditionDoorStatusManager
+import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManager.startLoopAbnormalFactors
+import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManager.stopLoopAbnormalFactors
+import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager
+import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager.pushAppOperationalMsgBox
+import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager.registerSocketMessageListener
+import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager.releaseSocketMessageListener
 import com.mogo.och.common.module.manager.socket.cloud.data.OperateDoorMsg
 import com.mogo.och.common.module.manager.socket.cloud.data.OrderCloseMsg
 import com.mogo.och.common.module.manager.socket.cloud.data.SystemMsg
@@ -65,6 +64,7 @@ import com.mogo.och.common.module.manager.socket.lan.bean.ChangeDestMsg
 import com.mogo.och.common.module.manager.socket.lan.bean.DPMsgType
 import com.mogo.och.common.module.manager.socket.lan.bean.DPOrderClosedMsg
 import com.mogo.och.common.module.manager.stopside.StopSideManager
+import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.common.module.utils.*
 import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.data.bean.*
@@ -479,14 +479,7 @@ class DriverM1Model {
      * @param isRestart
      */
     private fun startAutopilot() {
-        if (!OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
+        //判断轨迹Id是否可用
-            ToastUtils.showLong(
-                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
-                        ", 请稍候重试"
-            )
-            triggerUnableStartAPReasonEvent()
-            return
-        }
         mCurrentRoute?.let {
             //根据开关和后台是否发布轨迹启动自驾
             if (FunctionBuildConfig.isPassStartAutopilotCommand
@@ -502,9 +495,20 @@ class DriverM1Model {
                 return
             }
         }
+        // 6个条件判断
         if (!CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
             return
         }
+        // ssm 给出数据
+        if (!OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
+            ToastUtils.showLong(
+                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
+                        ", 请稍候重试"
+            )
+            triggerUnableStartAPReasonEvent()
+            return
+        }
+
         triggerStartServiceEvent(false, false)
         val parameters = initAutopilotControlParameters()
         if (null == parameters) {

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt

@@ -50,6 +50,7 @@ import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatu
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
 import com.mogo.och.common.module.manager.beautifymode.BeautifyManager
+import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.manager.socket.lan.LanSocketManager
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
@@ -1120,18 +1121,12 @@ object CharterPassengerModel {
      * 开启自动驾驶
      */
     fun startAutopilot() {
-        if (!OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
-            ToastCharterUtils.showToastLong(
-                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
-                        ", 请稍候重试"
-            )
-            return
-        }
         orderInfo?.let {
             if (it.arriveStatus == OrderInfoResponse.ARRIVED) {
                 ToastCharterUtils.showToastLong("已到达目的地请重新选择线路")
                 return
             }
+            //1、判断轨迹Id是否可用
             locusInfo?.let {
                 //根据开关和后台是否发布轨迹启动自驾
                 if (FunctionBuildConfig.isPassStartAutopilotCommand
@@ -1147,9 +1142,18 @@ object CharterPassengerModel {
                     return
                 }
             }
+            // 2、6个条件判断
             if (!CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
                 return
             }
+            //  4、ssm 给出数据
+            if (!OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
+                ToastCharterUtils.showToastLong(
+                    OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
+                            ", 请稍候重试"
+                )
+                return
+            }
             val parameters = initAutopilotControlParameters()
             if (null == parameters) {
                 ToastCharterUtils.showToastShort("请选择站点")
@@ -1265,4 +1269,12 @@ object CharterPassengerModel {
         updateAutopilotControlParameters(null)
     }
 
+    fun setTrajectoryStation(
+        startStation: MogoLocation?,
+        endStation: MogoLocation?,
+        lineId: Long?
+    ) {
+        TrajectoryAndDistanceManager.setStationPoint(startStation, endStation, lineId)
+    }
+
 }

OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java

@@ -21,7 +21,9 @@ import com.mogo.eagle.core.data.BaseData;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.utilcode.util.StringUtils;
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager;
+import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager;
 import com.mogo.och.common.module.manager.socket.lan.LanSocketManager;
 import com.mogo.och.shuttle.bean.BusRoutesResponse;
 import com.mogo.och.shuttle.util.ShuttleVoiceManager;
@@ -501,6 +503,7 @@ public class OrderModel {
                             removeTipRunnables();
                             // 取消自驾
                             CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
+                            setTrajectoryStation(null,null,-1L);
                         }
                     }
 
@@ -618,7 +621,7 @@ public class OrderModel {
      * @param isRestart
      */
     private void startAutopilot(boolean isRestart, int leaveIndex) {
-
+        //1、判断轨迹url是否可用
         if(busRoutesResult!=null){
             //根据开关和后台是否发布轨迹启动自驾
             if (FunctionBuildConfig.isPassStartAutopilotCommand
@@ -634,7 +637,32 @@ public class OrderModel {
                 return;
             }
         }
-
+        //2、6个条件判断
+        if (!CallerAutoPilotControlManager.INSTANCE.isCanStartAutopilot(true)) {
+            return;
+        }
+        // 3、距离轨迹15m计算
+        //3、距离轨迹15m计算
+        String resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId());
+        if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){
+            MogoLocation nextStationPoint = new MogoLocation();
+            if (backgroundCurrentStationIndex < stationList.size() - 1) {
+                BusStationBean nextStation = stationList.get(backgroundCurrentStationIndex + 1);
+                nextStationPoint.setLongitude(nextStation.getGcjLon());
+                nextStationPoint.setLatitude(nextStation.getGcjLat());
+            }
+            BusStationBean busStationBean = stationList.get(backgroundCurrentStationIndex);
+            MogoLocation currentStationPoint = new MogoLocation();
+            currentStationPoint.setLongitude(busStationBean.getGcjLon());
+            currentStationPoint.setLatitude(busStationBean.getGcjLat());
+            setTrajectoryStation(currentStationPoint,nextStationPoint, (long) busRoutesResult.getLineId());
+            resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId());
+        }
+        if(!StringUtils.isEmpty(resion)){
+            ToastUtils.showShort(resion);
+            return;
+        }
+        //4、ssm 给出数据
         if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
             ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
                     ", 请稍候重试");
@@ -642,10 +670,6 @@ public class OrderModel {
             return;
         }
 
-        if (!CallerAutoPilotControlManager.INSTANCE.isCanStartAutopilot(true)) {
-            return;
-        }
-
         firstStartAutopilot++;
 
         triggerStartServiceEvent(isRestart, false);
@@ -792,9 +816,13 @@ public class OrderModel {
         CallerLogger.d(M_BUS + TAG, "leaveStation-backgroundCurrentStationIndex = " + backgroundCurrentStationIndex);
         String nextStationName = "";
         String nextStationNameKr = "";
+        MogoLocation nextStationPoint = new MogoLocation();
         if (backgroundCurrentStationIndex < stationList.size() - 1) {
-            nextStationName = stationList.get(backgroundCurrentStationIndex + 1).getName();
+            BusStationBean nextStation = stationList.get(backgroundCurrentStationIndex + 1);
-            nextStationNameKr = stationList.get(backgroundCurrentStationIndex + 1).getNameKr();
+            nextStationName =  nextStation.getName();
+            nextStationNameKr = nextStation.getNameKr();
+            nextStationPoint.setLongitude(nextStation.getGcjLon());
+            nextStationPoint.setLatitude(nextStation.getGcjLat());
         }
         final String currentStationName = stationList.get(backgroundCurrentStationIndex).getName();
         String finalNextStationName = nextStationName;
@@ -806,6 +834,13 @@ public class OrderModel {
         long writeVersion = DateTimeUtil.getCurrentTimeStamp();
         leaveStationSuccess(backgroundCurrentStationIndex, currentStationName,
                 finalNextStationName,finalNextStationNameKr,writeVersion);
+
+        BusStationBean busStationBean = stationList.get(backgroundCurrentStationIndex);
+        MogoLocation currentStationPoint = new MogoLocation();
+        currentStationPoint.setLongitude(busStationBean.getGcjLon());
+        currentStationPoint.setLatitude(busStationBean.getGcjLat());
+        setTrajectoryStation(currentStationPoint,nextStationPoint, (long) busRoutesResult.getLineId());
+
         String changeInfo = "taskId:" + busRoutesResult.getTaskId() + "--lineId:" + busRoutesResult.getLineId() +
                 "--currentStationName:"+currentStationName+"--finalNextStationName:"+finalNextStationName;
         OchChainLogManager.writeChainLog("滑动出发", changeInfo,
@@ -1053,7 +1088,7 @@ public class OrderModel {
         }
         CallerLogger.d(M_BUS + TAG, "单程结束====");
         CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
-
+        setTrajectoryStation(null,null,-1L);
         endTask();
     }
 
@@ -1244,4 +1279,8 @@ public class OrderModel {
         return parameters;
     }
 
+    public void setTrajectoryStation(MogoLocation startStation,MogoLocation endStation,Long lineId){
+        TrajectoryAndDistanceManager.INSTANCE.setStationPoint(startStation,endStation,lineId);
+    }
+
 }

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java

@@ -925,7 +925,7 @@ public class TaxiModel {
             return;
         }
 
-        //根据开关和后台是否发布轨迹启动自驾
+        //1、判断轨迹url是否可用
         if (FunctionBuildConfig.isPassStartAutopilotCommand
                 && TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrl)
                 && TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrlDPQP)
@@ -937,18 +937,12 @@ public class TaxiModel {
                     + "busRoutesResult.csvFileUrlDPQP = " + mCurrentOCHOrder.csvFileUrlDPQP);
             return;
         }
-
+        //2、6个条件判断
         if (!CallerAutoPilotControlManager.INSTANCE.isCanStartAutopilot(true)) {
             return;
         }
 
-        if(CallerAutoPilotStatusListenerManager.INSTANCE.getState()
+        //3、距离轨迹15m计算
-                == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
-            ToastUtils.showShort("自驾中、请勿重复启动");
-            return;
-        }
-
-
         String resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot(mCurrentOCHOrder.lineId);
         if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){
             setStation();
@@ -961,7 +955,7 @@ public class TaxiModel {
 
         CallerLogger.e(M_TAXI + TAG, "isPassStartAutopilotCommand = " +
                 FunctionBuildConfig.isPassStartAutopilotCommand);
-
+        //4、ssm 给出数据
         if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
             ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
                     ", 请稍候重试");
@@ -970,6 +964,11 @@ public class TaxiModel {
                     OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason());
             return;
         }
+        if(CallerAutoPilotStatusListenerManager.INSTANCE.getState()
+                == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
+            ToastUtils.showShort("自驾中、请勿重复启动");
+            return;
+        }
 
         //点击开始自动驾驶按钮订单状态去流转， 不再与自动驾驶是否启动成功挂钩
         if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.UserArriveAtStart.getCode()) {

OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt

@@ -55,9 +55,7 @@ object AutopilotManager : IOchAutopilotStatusListener {
         if (TaxiPassengerModel.currentOCHOrder!!.orderStatus == TaxiPassengerOrderStatusEnum.UserArriveAtStart.code) {
             startServicePilotDone()
         }
-        if (!CallerAutoPilotControlManager.isCanStartAutopilot(false)) {
+        //1、判断轨迹Id是否可用
-            return "启动自动驾驶不满足条件"
-        }
         TaxiPassengerModel.currentOCHOrder?.let {
             //根据开关和后台是否发布轨迹启动自驾
             if (FunctionBuildConfig.isPassStartAutopilotCommand
@@ -73,11 +71,11 @@ object AutopilotManager : IOchAutopilotStatusListener {
                 return "无发布轨迹, 请发布后重试"
             }
         }
-        if(CallerAutoPilotStatusListenerManager.getState()
+        //2、6个条件判断
-            == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
+        if (!CallerAutoPilotControlManager.isCanStartAutopilot(false)) {
-            ToastUtils.showShort("自驾中、请勿重复启动");
+            return "启动自动驾驶不满足条件"
-            return "自驾中、请勿重复启动";
         }
+        //3、距离轨迹15m计算
         var resion = TrajectoryAndDistanceManager.canStartAutopilot(TaxiPassengerModel.currentOCHOrder!!.lineId)
         if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){
             TaxiPassengerModel.setStation();
@@ -87,7 +85,7 @@ object AutopilotManager : IOchAutopilotStatusListener {
             ToastUtils.showShort(resion)
             return resion
         }
-
+        // 4、ssm 给出数据
         if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
             ToastUtils.showLong(
                 OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
@@ -101,6 +99,12 @@ object AutopilotManager : IOchAutopilotStatusListener {
             )
             return OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason + ", 请稍候重试"
         }
+        if(CallerAutoPilotStatusListenerManager.getState()
+            == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
+            ToastUtils.showShort("自驾中、请勿重复启动");
+            return "自驾中、请勿重复启动";
+        }
+
         val parameters = initAutopilotControlParameters()
         if (parameters == null) {
             CallerLogger.d(

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt

@@ -35,6 +35,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
+import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager
@@ -1219,7 +1220,7 @@ object TaxiTaskModel {
             return
         }
 
-        //根据开关和后台是否发布轨迹启动自驾
+        //1、判断轨迹url是否可用 根据开关和后台是否发布轨迹启动自驾
         if (FunctionBuildConfig.isPassStartAutopilotCommand && mCurrentTaskTrajectory != null
             && TextUtils.isEmpty(mCurrentTaskTrajectory!!.csvFileUrl)
             && TextUtils.isEmpty(mCurrentTaskTrajectory!!.csvFileUrlDPQP)
@@ -1238,9 +1239,19 @@ object TaxiTaskModel {
             TAG, "isPassStartAutopilotCommand = " +
                     FunctionBuildConfig.isPassStartAutopilotCommand
         )
+        //2、6个条件判断
         if (!CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
             return
         }
+        // 3、距离轨迹15m计算
+        mCurrentTaskWithOrder?.let {
+            val resion = TrajectoryAndDistanceManager.canStartAutopilot(it.lineId)
+            if(!StringUtils.isEmpty(resion)){
+                ToastUtils.showShort(resion);
+                return;
+            }
+        }
+        // 4、ssm 给出数据
         if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
             ToastUtils.showLong(
                 OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +