[6.4.0]

[15米计算算法、启动自驾判断轨迹url是否为空]

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");