From 548b51d07baa33fef4fe5037c09ae6d163e14e05 Mon Sep 17 00:00:00 2001 From: renwj Date: Mon, 17 Jul 2023 20:55:43 +0800 Subject: [PATCH] =?UTF-8?q?[3.4.0][=E7=8A=B6=E6=80=81=E6=A0=8F]=20?= =?UTF-8?q?=E4=BC=98=E5=8C=96RTK=E6=95=B0=E6=8D=AE=E6=BA=90=E8=8E=B7?= =?UTF-8?q?=E5=8F=96=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../status/flow/rtk/RTKImpl.kt | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt index c42b02b60c..20c8b349f9 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt @@ -52,7 +52,7 @@ internal class RTKImpl(ctx: Context): IFlow(ctx), IMoGoAutopilotStatu return } check?.takeIf { it.isActive }?.cancel() - launch(Dispatchers.Unconfined) { + launch(Dispatchers.Default) { CallerAutoPilotControlManager.sendStatusQueryReq() delay(5000) isOldVersion.set(true) @@ -87,10 +87,9 @@ internal class RTKImpl(ctx: Context): IFlow(ctx), IMoGoAutopilotStatu override fun onChassisLocationWGS84(gnssInfo: MogoLocation) { if (isOldVersion.get()) { - if (isRTKEnabled()) { + if ((timeOutCheck == null || timeOutCheck?.isCompleted == true) && isRTKEnabled()) { send(RTKStatus("RTK", 0)) - timeOutCheck?.takeIf { it.isActive }?.cancel() - launch(Dispatchers.Unconfined) { + launch(Dispatchers.Default) { delay(4000) send(RTKStatus("", -1)) }.also {