From 541fbff59048823d4f09ddbd3c416b532bee3a16 Mon Sep 17 00:00:00 2001 From: yangyakun Date: Thu, 25 Apr 2024 19:42:37 +0800 Subject: [PATCH] =?UTF-8?q?[6.4.0]=20[15=E7=B1=B3=E8=AE=A1=E7=AE=97?= =?UTF-8?q?=E7=AE=97=E6=B3=95=E3=80=81=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE?= =?UTF-8?q?=E5=88=A4=E6=96=AD=E8=BD=A8=E8=BF=B9url=E6=98=AF=E5=90=A6?= =?UTF-8?q?=E4=B8=BA=E7=A9=BA]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/mogo/och/bus/model/OrderModel.java | 20 +++++- .../mogo/och/charter/model/DriverM1Model.kt | 16 +++++ .../passenger/model/CharterPassengerModel.kt | 18 ++++++ .../distance/TrajectoryAndDistanceManager.kt | 63 +++++-------------- .../mogo/och/shuttle/model/OrderModel.java | 17 +++++ .../model/SweeperOperateTaskModel.java | 16 +++++ .../com/mogo/och/taxi/model/TaxiModel.java | 10 ++- .../taxi/passenger/model/AutopilotManager.kt | 22 ++++++- .../och/taxi/ui/routing/TaxiRoutingModel.kt | 6 +- .../mogo/och/taxi/ui/task/TaxiTaskModel.kt | 5 +- .../taxi/passenger/model/AutopilotManager.kt | 16 +++++ 11 files changed, 152 insertions(+), 57 deletions(-) diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java b/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java index 3406ad5c7c..cce03cef41 100644 --- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java +++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java @@ -622,8 +622,10 @@ public class OrderModel { // 　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 - if (FunctionBuildConfig.isPassStartAutopilotCommand && TextUtils.isEmpty(busRoutesResult.csvFileUrl) - && TextUtils.isEmpty(busRoutesResult.csvFileUrlDPQP)){ + if (FunctionBuildConfig.isPassStartAutopilotCommand + && TextUtils.isEmpty(busRoutesResult.csvFileUrl) + && TextUtils.isEmpty(busRoutesResult.csvFileUrlDPQP) + ){ ToastUtils.showLong("无发布轨迹, 请发布后重试"); CallerLogger.e(M_BUS + TAG, "isPassStartAutopilotCommand = " + FunctionBuildConfig.isPassStartAutopilotCommand @@ -648,6 +650,20 @@ public class OrderModel { } 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) currentLineId); + resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId()); + } if(!StringUtils.isEmpty(resion)){ ToastUtils.showShort(resion); return; diff --git a/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt b/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt index b413c301fc..a801b507f9 100644 --- a/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt +++ b/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt @@ -20,6 +20,7 @@ import com.mogo.commons.module.intent.IntentManager import com.mogo.commons.voice.AIAssist 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.data.msgbox.MsgBoxBean import com.mogo.eagle.core.data.msgbox.MsgBoxType @@ -486,6 +487,21 @@ class DriverM1Model { triggerUnableStartAPReasonEvent() return } + mCurrentRoute?.let { + //根据开关和后台是否发布轨迹启动自驾 + if (FunctionBuildConfig.isPassStartAutopilotCommand + && TextUtils.isEmpty(it.csvFileUrl) + && TextUtils.isEmpty(it.csvFileUrlDPQP) + ) { + ToastUtils.showLong("无发布轨迹, 请发布后重试") + CallerLogger.e( + TAG, "isPassStartAutopilotCommand = " + + FunctionBuildConfig.isPassStartAutopilotCommand + + "busRoutesResult.csvFileUrl = " + it.csvFileUrl + ) + return + } + } if (!CallerAutoPilotControlManager.isCanStartAutopilot(true)) { return } diff --git a/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt b/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt index e66fe0e263..afded4c1b1 100644 --- a/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt +++ b/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt @@ -3,6 +3,7 @@ package com.mogo.och.charter.passenger.model import android.annotation.SuppressLint import android.content.Context import android.net.ConnectivityManager +import com.alibaba.android.arouter.utils.TextUtils import com.mogo.commons.AbsMogoApplication import com.mogo.commons.module.intent.IMogoIntentListener import com.mogo.commons.module.intent.IntentManager @@ -20,6 +21,8 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS_P import com.mogo.commons.storage.SharedPrefsMgr +import com.mogo.eagle.core.data.config.FunctionBuildConfig +import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.util.* import com.mogo.och.charter.passenger.R import com.mogo.och.common.module.manager.loop.LoopInfo @@ -1129,6 +1132,21 @@ object CharterPassengerModel { ToastCharterUtils.showToastLong("已到达目的地请重新选择线路") return } + locusInfo?.let { + //根据开关和后台是否发布轨迹启动自驾 + if (FunctionBuildConfig.isPassStartAutopilotCommand + && TextUtils.isEmpty(it.csvFileUrl) + && TextUtils.isEmpty(it.csvFileUrlDPQP) + ) { + ToastUtils.showLong("无发布轨迹, 请发布后重试") + CallerLogger.e( + TAG, "isPassStartAutopilotCommand = " + + FunctionBuildConfig.isPassStartAutopilotCommand + + "busRoutesResult.csvFileUrl = " + it.csvFileUrl + ) + return + } + } if (!CallerAutoPilotControlManager.isCanStartAutopilot(true)) { return } diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt index 19870d6a3f..fc8023d4a7 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt @@ -36,6 +36,8 @@ object TrajectoryAndDistanceManager : IMoGoPlanningRottingListener { private const val TAG = "DistanceManager" private const val DISTANCE = "BusPassengerModelDistance" + const val errorTypeNoneLineId = "起始站点值异常，请重新选择此任务执行并上报问题" + fun addDistanceListener(tag: String, listener: IDistanceListener) { if (distanceListeners.containsKey(tag)) { @@ -703,7 +705,7 @@ object TrajectoryAndDistanceManager : IMoGoPlanningRottingListener { */ private fun distanceWithStartStation(): String { if (startStationInfo.stationPoint == null) { - return "起始站点值异常，请重新选择此任务执行并上报问题" + return errorTypeNoneLineId } val currentPoint = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02() val distance = CoordinateUtils.calculateLineDistance( @@ -723,54 +725,23 @@ object TrajectoryAndDistanceManager : IMoGoPlanningRottingListener { * 距离轨迹的距离 */ fun distanceWithTrajectory(redCatche: MutableList,currentPoint:MogoLocation): String { - // 判断距离轨迹的距离 - val carLocationInfo: Triple = - CoordinateCalculateRouteUtil.getNearestPointInfo( - 0, - redCatche.size - 1, - redCatche, - currentPoint, - 2 - ) - if (carLocationInfo.third <= OchCommonConst.AUTOMATIC_PLANNING_MAX_DISTANCE) { - return ""// 可以启动自驾 - } else { - // 判断距离线段的距离 垂足的距离 - val nextPoint: MogoLocation - val prePoint: MogoLocation - // isNext true 最近的点是在下一个 - // isNext false 最近的点是在上一个 - if (carLocationInfo.second == true) { - if (carLocationInfo.first > 0) { - nextPoint = redCatche[carLocationInfo.first] - prePoint = redCatche[carLocationInfo.first - 1] - } else { - // 距离第一个点大于15m 过远 - return "距离轨迹线超过15m：${carLocationInfo.first}米,无法启动自驾" + redCatche.forEachIndexed { index, mogoLocation -> + if(index!=0){ + val prePoint = redCatche.get(index - 1) + val pointToLine = LocationUtils.pointToLine( + prePoint.longitude, + prePoint.latitude, + mogoLocation.longitude, + mogoLocation.latitude, + currentPoint.longitude, + currentPoint.latitude + ) + if(pointToLine<=OchCommonConst.AUTOMATIC_PLANNING_MAX_DISTANCE){ + return "" } - } else { - if (carLocationInfo.first + 1 < redCatche.size) { - nextPoint = redCatche[carLocationInfo.first + 1] - prePoint = redCatche[carLocationInfo.first] - } else { - nextPoint = redCatche[carLocationInfo.first] - prePoint = redCatche[carLocationInfo.first - 1] - } - } - val pointToLine = LocationUtils.pointToLine( - prePoint.longitude, - prePoint.latitude, - nextPoint.longitude, - nextPoint.latitude, - currentPoint.longitude, - currentPoint.latitude - ) - return if (pointToLine <= OchCommonConst.AUTOMATIC_PLANNING_MAX_DISTANCE) { - "" - } else { - "距离轨迹线超过15m,无法启动自驾" } } + return "距离轨迹线超过15m,无法启动自驾" } } \ No newline at end of file diff --git a/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java b/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java index 7faf392b35..ade0ce7eaf 100644 --- a/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java +++ b/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java @@ -6,6 +6,7 @@ import static com.mogo.och.shuttle.constant.BusConst.STATION_STATUS_ARRIVING; import static com.mogo.och.shuttle.constant.BusConst.STATION_STATUS_STOPPED; import android.content.Context; +import android.text.TextUtils; import androidx.annotation.NonNull; import androidx.annotation.Nullable; @@ -618,6 +619,22 @@ public class OrderModel { */ private void startAutopilot(boolean isRestart, int leaveIndex) { + if(busRoutesResult!=null){ + //根据开关和后台是否发布轨迹启动自驾 + if (FunctionBuildConfig.isPassStartAutopilotCommand + && TextUtils.isEmpty(busRoutesResult.csvFileUrl) + && TextUtils.isEmpty(busRoutesResult.csvFileUrlDPQP) + ) { + ToastUtils.showLong("无发布轨迹, 请发布后重试"); + CallerLogger.e( + TAG, "isPassStartAutopilotCommand = " + + FunctionBuildConfig.isPassStartAutopilotCommand + + "busRoutesResult.csvFileUrl = " + busRoutesResult.csvFileUrl + ); + return; + } + } + if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) { ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() + ", 请稍候重试"); diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java index 8d1050caa0..951bfee6bb 100644 --- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java @@ -5,6 +5,7 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWE import android.content.Context; import android.content.Intent; import android.net.ConnectivityManager; +import android.text.TextUtils; import android.util.Log; import androidx.annotation.NonNull; @@ -416,6 +417,21 @@ public class SweeperOperateTaskModel { */ private void startAutopilot(boolean isRestart) { DebugView.Companion.printInfoMsg("[启自驾] startAutoPilot"); + if(mCurrentSubTaskDetail!=null){ + //根据开关和后台是否发布轨迹启动自驾 + if (FunctionBuildConfig.isPassStartAutopilotCommand + && TextUtils.isEmpty(mCurrentSubTaskDetail.getCsvFileUrl()) + && TextUtils.isEmpty(mCurrentSubTaskDetail.getCsvFileUrlDPQP()) + ) { + ToastUtils.showLong("无发布轨迹, 请发布后重试"); + CallerLogger.e( + TAG, "isPassStartAutopilotCommand = " + + FunctionBuildConfig.isPassStartAutopilotCommand + + "busRoutesResult.csvFileUrl = " + mCurrentSubTaskDetail.getCsvFileUrl() + ); + return; + } + } if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) { ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() + ", 请稍候重试"); 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 b27bc0b0a1..28812619e5 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 @@ -926,8 +926,10 @@ public class TaxiModel { } //根据开关和后台是否发布轨迹启动自驾 - if (FunctionBuildConfig.isPassStartAutopilotCommand && TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrl) - && TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrlDPQP)) { + if (FunctionBuildConfig.isPassStartAutopilotCommand + && TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrl) + && TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrlDPQP) + ) { ToastUtils.showLong("无发布轨迹, 请发布后重试"); CallerLogger.e(M_TAXI + TAG, "isPassStartAutopilotCommand = " + FunctionBuildConfig.isPassStartAutopilotCommand @@ -948,6 +950,10 @@ public class TaxiModel { String resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot(mCurrentOCHOrder.lineId); + if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){ + setStation(); + resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot(mCurrentOCHOrder.lineId); + } if(!StringUtils.isEmpty(resion)){ ToastUtils.showShort(resion); return; diff --git a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt index 1852035b89..a99722338d 100644 --- a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt +++ b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt @@ -1,5 +1,6 @@ package com.mogo.och.taxi.passenger.model +import com.alibaba.android.arouter.utils.TextUtils import com.elegant.network.utils.GsonUtil import com.mogo.commons.voice.AIAssist import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters @@ -57,12 +58,31 @@ object AutopilotManager : IOchAutopilotStatusListener { if (!CallerAutoPilotControlManager.isCanStartAutopilot(false)) { 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 + && TextUtils.isEmpty(it.csvFileUrl) + && TextUtils.isEmpty(it.csvFileUrlDPQP) + ) { + ToastUtils.showLong("无发布轨迹, 请发布后重试") + CallerLogger.e( + TAG, "isPassStartAutopilotCommand = " + + FunctionBuildConfig.isPassStartAutopilotCommand + + "busRoutesResult.csvFileUrl = " + it.csvFileUrl + ) + return "无发布轨迹, 请发布后重试" + } + } 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 resion = TrajectoryAndDistanceManager.canStartAutopilot(TaxiPassengerModel.currentOCHOrder!!.lineId) + var resion = TrajectoryAndDistanceManager.canStartAutopilot(TaxiPassengerModel.currentOCHOrder!!.lineId) + if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){ + TaxiPassengerModel.setStation(); + resion = TrajectoryAndDistanceManager.canStartAutopilot(TaxiPassengerModel.currentOCHOrder!!.lineId); + } if (!StringUtils.isEmpty(resion)) { ToastUtils.showShort(resion) return resion diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt index 55a1bcd22e..b4a02d84c4 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt @@ -462,9 +462,9 @@ object TaxiRoutingModel { return } //根据开关和后台是否发布轨迹启动自驾 - if (FunctionBuildConfig.isPassStartAutopilotCommand && TextUtils.isEmpty( - contrailBean.csvFileUrl - ) + if (FunctionBuildConfig.isPassStartAutopilotCommand + && TextUtils.isEmpty(contrailBean.csvFileUrl) + && TextUtils.isEmpty(contrailBean.csvFileUrlDPQP) ) { ToastUtils.showLong("无发布轨迹, 请发布后重试") DebugView.printErrorMsg("[启自驾] 无发布轨迹, 请发布后重试") 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 b9087d3ee5..ab2761e5c7 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 @@ -1220,9 +1220,8 @@ object TaxiTaskModel { } //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 - ) + if (FunctionBuildConfig.isPassStartAutopilotCommand && mCurrentTaskTrajectory != null + && TextUtils.isEmpty(mCurrentTaskTrajectory!!.csvFileUrl) && TextUtils.isEmpty(mCurrentTaskTrajectory!!.csvFileUrlDPQP) ) { ToastUtils.showLong("无发布轨迹, 请发布后重试") diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt index 067280e6b9..6f2c23c870 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt @@ -1,5 +1,6 @@ package com.mogo.och.taxi.passenger.model +import com.alibaba.android.arouter.utils.TextUtils import com.elegant.network.utils.GsonUtil import com.mogo.commons.voice.AIAssist import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters @@ -53,6 +54,21 @@ object AutopilotManager : IOchAutopilotStatusListener { if (TaxiPassengerModel.currentOCHOrder!!.orderStatus == TaxiPassengerOrderStatusEnum.UserArriveAtStart.code) { startAutoPilotServiceByPassenger() } + TaxiPassengerModel.currentTrajectoryInfo?.let { + //根据开关和后台是否发布轨迹启动自驾 + if (FunctionBuildConfig.isPassStartAutopilotCommand + && TextUtils.isEmpty(it.csvFileUrl) + && TextUtils.isEmpty(it.csvFileUrlDPQP) + ) { + ToastUtils.showLong("无发布轨迹, 请发布后重试") + CallerLogger.e( + TAG, "isPassStartAutopilotCommand = " + + FunctionBuildConfig.isPassStartAutopilotCommand + + "busRoutesResult.csvFileUrl = " + it.csvFileUrl + ) + return "无发布轨迹, 请发布后重试" + } + } // 0831 目前无人化taxi中间不会取消自驾，一直处于自动驾驶状态中，所以这个判断先去掉 // if (CallerAutoPilotStatusListenerManager.getState() // == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING