diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
index b3b59484e0..de26159ab3 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
@@ -4,6 +4,8 @@ import chassis.ChassisStatesOuterClass
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
 import com.mogo.och.sweepercloud.database.bean.WeltDataBean
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
+import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
+import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootableResp
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.Code
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
@@ -43,7 +45,7 @@ interface ISweeperCloudTaskCallback {
     /**
      * pad请求云端进入自驾
      */
-    fun onSweeperCloudBootable(taskId:String,subTaskId:String,code:Code)
+    fun onSweeperCloudBootable(taskId:String,subTaskId:String,isBootableResp: IsBootableResp)
 
     /**
      * 云端同步大任务状态
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 0f493d7d2b..f04c9f2128 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
@@ -92,9 +92,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     protected int getLayoutId() {
         return R.layout.sweeper_base_fragment;
     }
-
-    private View panelView;
-
     @Override
     public boolean onTouch(View v, MotionEvent event) {
         return true;
@@ -106,7 +103,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         groupTestPanel = findViewById(R.id.groupTestPanel);
         flTaskListPanelContainer = findViewById(R.id.module_mogo_och_task_list_container);
         mTrafficDataView = findViewById(R.id.sweeper_arc);
-        panelView = LayoutInflater.from(getContext()).inflate(getTaskListPanelViewId(), flTaskListPanelContainer);
+        LayoutInflater.from(getContext()).inflate(getTaskListPanelViewId(), flTaskListPanelContainer);
         mSwitchMapModeImage = findViewById(R.id.sweeper_switch_model_icon);
         mSettingBtn = findViewById(R.id.sweeper_setting_model_icon);
         mCardBtn = findViewById(R.id.sweeper_card_model_icon);
@@ -487,7 +484,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
      * 模拟云端发送任务信息
      */
     public void mockSendCloudTaskInfo() {
-        SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask);
+        SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.PadSendGetTaskReq);
     }
 
     /**
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 cb362431ce..89ae5840f2 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
@@ -6,6 +6,7 @@ import androidx.lifecycle.lifecycleScope
 import chassis.ChassisStatesOuterClass
 import com.amap.api.maps.model.LatLng
 import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_ENABLE
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -23,6 +24,7 @@ import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskNor
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.printMessage
 import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
+import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
@@ -51,6 +53,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     private var mSubTaskType: TaskModel = TaskModel.DEFAULT_MODEL //1:自动驾驶子任务 2：人工驾驶子任务 -1:未知任务类型
     private var mCurrentSubTaskInfo: SubTaskInfo? = null//当前正在执行的子任务
     private val mLoadingDialog: SweeperCloudLoadingDialog by lazy { SweeperCloudLoadingDialog(requireContext()) }
+    private var mDialog:SweeperCloudDialog?=null
 
     override fun getTagName(): String {
         return "SweepersFragment"
@@ -105,8 +108,14 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
      * 设置各种监听事件
      */
     private fun initListener() {
-        getCurrentView().setOnClickListener {
-
+        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
+            mCurrentSubTaskInfo?.let {
+                if (mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE) {
+                    mLoadingDialog.showLoading()
+                    mPresenter?.sendSweeperAutopilotBootable(mTaskInfo?.taskId, it.subTaskId, it.lineId.toLong())
+                }
+            }
         }
     }
 
@@ -149,11 +158,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
      * 设置当前子任务终点
      */
     private fun setEndStationMarker(position: Int) {
-        mSubMutableList?.let { subList ->
-            val endPoint = subList[position].endLocation
-            val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
-            super.mCurrentTaskEndStation = endLatLng
-            setCurrentTaskEndMarker(endLatLng)
+        lifecycleScope.launch(Dispatchers.IO) {
+            mSubMutableList?.let { subList ->
+                val endPoint = subList[position].endLocation
+                val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
+                super.mCurrentTaskEndStation = endLatLng
+                setCurrentTaskEndMarker(endLatLng)
+            }
         }
     }
 
@@ -231,11 +242,14 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 return
             }
             val timeout: String = getTimeSpent(it.taskEndTime)
-            var dialog: SweeperCloudDialog?
+            //数据重复导致连续弹窗
+            if (mDialog!=null&& mDialog!!.isShowing){
+                return
+            }
             if (stopTaskType == SweeperTaskStop.StopTaskType.NORMAL) {
-                dialog = sweeperCloudTaskNormalEndDialog(true)
+                mDialog = sweeperCloudTaskNormalEndDialog()
             } else {
-                dialog = createSweeperTaskEndDialog(context, object : SweeperCloudDialogClickListener {
+                mDialog = createSweeperTaskEndDialog(context, object : SweeperCloudDialogClickListener {
                     override fun onConfirm() {
                         mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
                         mLoadingDialog.showLoading()
@@ -259,7 +273,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 
                 }, stopTaskType, timeout)
             }
-            dialog?.show()
+            mDialog?.show()
         }
 
     }
@@ -267,12 +281,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 大任务/子任务正常结束弹窗
      */
-    private fun sweeperCloudTaskNormalEndDialog(isBigTaskEnd: Boolean): SweeperCloudDialog? {
+    private fun sweeperCloudTaskNormalEndDialog(): SweeperCloudDialog? {
         return createSweeperTaskNormalEndDialog(context, object : SweeperCloudDialogClickListener {
             override fun onConfirm() {
-                if (isBigTaskEnd) {
-                    resetTaskInfoPanel()
-                }
+                ToastUtils.showLong("任务已结束")
+                resetTaskInfoPanel()
             }
 
             override fun onRefuseOrEnd() {
@@ -280,9 +293,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             }
 
             override fun onCountDownStop() {
-                if (isBigTaskEnd) {
-                    resetTaskInfoPanel()
-                }
+                ToastUtils.showLong("任务已结束")
+                resetTaskInfoPanel()
             }
 
             override fun onNext() {
@@ -305,8 +317,12 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             }
             //大任务正常结束
             if (subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.FINISHED) {
-                val dialog = sweeperCloudTaskNormalEndDialog(true)
-                dialog?.show()
+                //数据重复导致连续弹窗
+                if (mDialog!=null&& mDialog!!.isShowing){
+                    return
+                }
+                mDialog=sweeperCloudTaskNormalEndDialog()
+                mDialog?.show()
                 return
             }
             //大任务处于取消状态 异常状态pad端都显示无任务列表
@@ -316,6 +332,18 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         }
     }
 
+    /**
+     * pad请求云端进入自动驾驶回调
+     */
+    fun onSweeperCloudAutopilotBootable(taskId: String, subTaskId: String, isBootableResp: SweeperBootable.IsBootableResp) {
+        mLoadingDialog.hideLoading()
+        if (isBootableResp.code == SweeperCommon.Code.SUCCEED) {
+            ToastUtils.showLong("请求成功")
+        } else {
+            ToastUtils.showLong("请求失败")
+        }
+    }
+
     /**
      * 重置任务面板为无数据状态
      */
@@ -403,7 +431,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         if (mTaskInfo?.taskId != taskId) return
         val subInfo = bySubTaskIdFindSubTaskInfo(subTaskId)
         subInfo?.let {
-            val dialog = createConfirmStartSubTaskDialog(context, object : SweeperCloudDialogClickListener {
+            //数据重复导致连续弹窗
+            if (mDialog!=null&& mDialog!!.isShowing){
+                return
+            }
+            mDialog = createConfirmStartSubTaskDialog(context, object : SweeperCloudDialogClickListener {
                 override fun onConfirm() {
                     ToastUtils.showLong("确认")
                     mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
@@ -429,7 +461,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 }
 
             }, it)
-            dialog?.show()
+            mDialog?.show()
         }
     }
 
@@ -439,7 +471,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     private fun receivedTaskInfoDialog() {
         mTaskInfo?.let {
             mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.RECEIVED)
-            val dialog = createReceivedTaskInfoDialog(context, object : SweeperCloudDialogClickListener {
+            //数据重复导致连续弹窗
+            if (mDialog!=null&& mDialog!!.isShowing){
+                return
+            }
+            mDialog = createReceivedTaskInfoDialog(context, object : SweeperCloudDialogClickListener {
                 override fun onConfirm() {
                     ToastUtils.showLong("确认")
                     mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM)
@@ -468,7 +504,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 }
 
             }, it)
-            dialog?.show()
+            mDialog?.show()
         }
 
     }
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 d5a8883e72..d92fd4b15b 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
@@ -456,9 +456,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     public void getCurrentTask() {
         SweeperTask.GetTaskReq.Builder builder = SweeperTask.GetTaskReq.newBuilder();
         builder.setSn(getDriverSn());
-        String reqNo = String.valueOf(System.currentTimeMillis());
+        String reqNo = SweeperCloudTaskUtils.getRequestId();
         SweeperTask.GetTaskReq getTaskReq = builder.build();
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo);
+        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo +" messageType:"+ SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber());
         getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
         // TODO: 2023/5/5 模拟云控获取任务
         UiThreadHandler.postDelayed(() -> {
@@ -478,7 +478,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         SweeperTask.StartTaskResp startTaskResp = builder.build();
         String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask.getNumber());
         getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp);
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo);
+        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo+" messageType:"+ SweeperCloudTask.MessageType.CloudPushTask.getNumber());
     }
 
     /**
@@ -492,7 +492,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         builder.setCode(code);
         SweeperTaskConfirm.TaskConfirmResp taskConfirmResp = builder.build();
         String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo);
+        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo+" messageType:"+ SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
         getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
     }
 
@@ -509,7 +509,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         builder.setCode(code);
         SweeperTaskStop.StopTaskResp stopTaskResp = builder.build();
         String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo);
+        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo+" messageType:"+ SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
         getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
     }
 
@@ -527,9 +527,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         builder.setSubTaskId(subTaskId);
         builder.setLineId(lineId);
         SweeperBootable.IsBootable isBootable = builder.build();
-        String reqNo = String.valueOf(System.currentTimeMillis());
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo);
+        String reqNo = SweeperCloudTaskUtils.getRequestId();
+        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo+" messageType:"+ SweeperCloudTask.MessageType.PadSendBootable.getNumber());
         getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
+        // TODO: 2023/5/16
+        SweeperCloudTaskUtils.mockSendCloudBootable();
     }
 
     public CallerAutoPilotControlManager getAutoPilotControlManager() {
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
index e58124bd38..b059615e1d 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
@@ -15,6 +15,7 @@ import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
 import com.mogo.och.sweepercloud.fragment.SweeperFragment;
 import com.mogo.och.sweepercloud.model.SweeperTaskModel;
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
+import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon;
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
 import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
@@ -190,8 +191,8 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     }
 
     @Override
-    public void onSweeperCloudBootable(@NonNull String taskId, @NonNull String subTaskId, SweeperCommon.Code code) {
-
+    public void onSweeperCloudBootable(@NonNull String taskId, @NonNull String subTaskId, SweeperBootable.IsBootableResp isBootableResp) {
+        ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudAutopilotBootable(taskId, subTaskId,isBootableResp));
     }
 
     @Override
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt
index a367363817..f333e53dc8 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt
@@ -35,7 +35,7 @@ class SweeperCloudLoadingDialog : BaseFloatDialog, LifecycleObserver {
     private fun startRotation() {
         objectAnimator = ObjectAnimator.ofFloat(mLoadingView, "rotation", 0f, 720f)
         objectAnimator?.let {
-            it.duration = 1800
+            it.duration = 3000
             it.repeatCount = -1
             it.interpolator = LinearInterpolator()
             it.start()
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 b929c977da..39a8df7e6a 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
@@ -1,6 +1,7 @@
 package com.mogo.och.sweepercloud.util
 
 import android.content.Context
+import com.elegant.utils.UiThreadHandler
 import com.google.protobuf.MessageOrBuilder
 import com.google.protobuf.TextFormat
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
@@ -11,6 +12,7 @@ import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
 import com.mogo.och.sweepercloud.model.SweeperTaskModel
 import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
+import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.*
 import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
@@ -18,6 +20,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus.BigTaskStat
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
+import java.util.*
 
 object SweeperCloudTaskUtils {
     const val TAG = "SweeperCloudTaskUtils"
@@ -39,7 +42,7 @@ object SweeperCloudTaskUtils {
         subBuilder0.subTaskId = "1"
         subBuilder0.subTaskName = "海水浴场-佛兴禅寺（前岛贴右）"
         subBuilder0.taskModel = TaskModel.AUTO
-        subBuilder0.taskStatus = SweeperCommon.TaskStatus.FINISHED
+        subBuilder0.taskStatus = SweeperCommon.TaskStatus.TO_START
         val startLocation0 = Location.newBuilder()
         startLocation0.siteName = "自动驾驶子任务起点0"
         startLocation0.wgsLongitude = 121.6421189511
@@ -99,13 +102,34 @@ object SweeperCloudTaskUtils {
         endLocation2.latitude = 37.48032689641474
         subBuilder2.endLocation = endLocation2.build()
         builder.addSubList(subBuilder2.build())
+        //第四个子任务
+        val subBuilder3 = SubTaskInfo.newBuilder()
+        subBuilder3.subTaskId = "4"
+        subBuilder3.subTaskName = "海水浴场-佛兴禅寺（前岛贴左第四个任务）"
+        subBuilder3.taskModel = TaskModel.MANUAL
+        subBuilder3.taskStatus = SweeperCommon.TaskStatus.TO_START
+        val startLocation3 = Location.newBuilder()
+        startLocation3.siteName = "人工驾驶子任务起点3"
+        startLocation3.wgsLongitude = 121.31344761929978
+        startLocation3.wgsLatitude = 37.53205755535642
+        startLocation3.longitude = 121.3185679517558
+        startLocation3.latitude = 37.5329694887952
+        subBuilder3.startLocation = startLocation3.build()
+        val endLocation3 = Location.newBuilder()
+        endLocation3.siteName = "人工驾驶子任务终点3"
+        endLocation3.wgsLongitude = 121.4551205070834
+        endLocation3.wgsLatitude = 37.47936696980237
+        endLocation3.longitude = 121.46030960742117
+        endLocation3.latitude = 37.48032689641474
+        subBuilder3.endLocation = endLocation3.build()
+        builder.addSubList(subBuilder3.build())
         SweeperTaskModel.getInstance().onSweeperFutianCloudTask(
             messageType,
             "${System.currentTimeMillis()}",
             System.currentTimeMillis(),
             builder.build()
         )
-        CallerLogger.d(SceneConstant.M_SWEEPER + TAG, "messageType:" + messageType + "taskInfo:" + printMessage(builder.build()))
+        CallerLogger.d(SceneConstant.M_SWEEPER + TAG, "messageType:" + messageType.number + "taskInfo:" + printMessage(builder.build()))
     }
 
     /**
@@ -131,7 +155,7 @@ object SweeperCloudTaskUtils {
         val builder = SweeperTaskStatus.TaskStatusPush.newBuilder()
         builder.sn = getDriverSn()
         builder.taskId = "10"
-        builder.subTaskId = "3"
+        builder.subTaskId = "1"
         builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
         SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStatus(
             MessageType.CloudPushTaskStatus, "${System.currentTimeMillis()}",
@@ -170,6 +194,24 @@ object SweeperCloudTaskUtils {
         )
     }
 
+    /**
+     * 模拟云端发送是否可以启动自驾
+     */
+    @JvmStatic
+    fun mockSendCloudBootable() {
+        val builder = SweeperBootable.IsBootableResp.newBuilder()
+        builder.sn = getDriverSn()
+        builder.taskId = "10"
+        builder.subTaskId = "1"
+        builder.code = SweeperCommon.Code.SUCCEED
+        UiThreadHandler.getsUiHandler().postDelayed({
+            SweeperTaskModel.getInstance().onSweeperFutianCloudBootable(
+                MessageType.PadSendBootable, "${System.currentTimeMillis()}",
+                System.currentTimeMillis(), builder.build()
+            )
+        }, 10000)
+    }
+
     private fun getDriverSn(): String? {
         return MoGoAiCloudClientConfig.getInstance().sn
     }
@@ -277,6 +319,10 @@ object SweeperCloudTaskUtils {
 
     @JvmStatic
     fun printMessage(message: MessageOrBuilder): String {
-        return TextFormat.printer().escapingNonAscii(false).printToString(message)
+        return "\n"+TextFormat.printer().escapingNonAscii(false).printToString(message)
+    }
+    @JvmStatic
+    fun getRequestId():String{
+        return UUID.randomUUID().toString()
     }
 }
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
index 0ebb28d761..3bdbcea852 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
@@ -4,6 +4,7 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
+import android.widget.TextView
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.sweepercloud.R
@@ -34,6 +35,10 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
         setSubTaskState(false)
     }
 
+    fun getAutoBtn(): TextView {
+        return tvStartAuto
+    }
+
     /**
      * 设置当前任务数据
      */
@@ -46,7 +51,12 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
             tvTaskName.text = taskName
             val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
             val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
-            tvTaskTime.text = "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${DateTimeUtil.formatCalendarToString(calendarEnd, DateTimeUtil.HH_mm)}"
+            tvTaskTime.text = "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
+                DateTimeUtil.formatCalendarToString(
+                    calendarEnd,
+                    DateTimeUtil.HH_mm
+                )
+            }"
         }
         listTask?.let {
             //特殊处理当前暂无执行中任务的情况
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltSmallMapView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltSmallMapView.kt
index 8a0f20968f..4db516bb7a 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltSmallMapView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltSmallMapView.kt
@@ -212,9 +212,11 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
      * 设置当前任务的终点
      */
     fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
-        endStationMarker?.remove()
-        endStationMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
-        endStationMarker?.position = coordinatesLatLng
+        ThreadUtils.runOnUiThread {
+            endStationMarker?.remove()
+            endStationMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
+            endStationMarker?.position = coordinatesLatLng
+        }
     }
 
     /**
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 ab9eac8b72..45cac70989 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
@@ -94,29 +94,18 @@
     <com.mogo.och.common.module.wigets.OCHRoundConstraintLayout
         android:layout_width="@dimen/dp_711"
         android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/dp_27"
-        android:layout_marginEnd="@dimen/dp_36"
-        app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintTop_toTopOf="parent"
-        app:roundLayoutRadius="@dimen/dp_16">
-
-        <!--  <com.mogo.eagle.core.function.hmi.ui.widget.MogoVideoView
-              android:id="@+id/sweeper_video_view"
-              android:layout_width="match_parent"
-              android:layout_height="@dimen/dp_401"
-              android:src="#999999"
-              app:layout_constraintEnd_toEndOf="parent"
-              app:layout_constraintStart_toStartOf="parent"
-              app:layout_constraintTop_toTopOf="parent" />-->
-
+        app:layout_constraintEnd_toEndOf="parent"
+        android:layout_marginEnd="@dimen/dp_36"
+        android:layout_marginTop="@dimen/dp_27"
+        app:roundLayoutRadius="@dimen/dp_16"
+        >
         <com.mogo.och.sweepercloud.view.WeltSmallMapView
             android:id="@+id/sweeper_task_welt_small_map"
-            android:layout_width="match_parent"
-            android:layout_height="@dimen/dp_401"
-            app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintEnd_toEndOf="parent"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
             app:layout_constraintStart_toStartOf="parent"
-            app:layout_constraintTop_toTopOf="parent" />
+            app:layout_constraintEnd_toEndOf="parent"/>
     </com.mogo.och.common.module.wigets.OCHRoundConstraintLayout>
 
     <ImageView