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 ec588a3b3a..4cee00f798 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
@@ -6,8 +6,9 @@ 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.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ToastUtils
-import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.sweepercloud.R
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
 import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
@@ -16,6 +17,7 @@ import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudLoadingDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createConfirmStartSubTaskDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createReceivedTaskInfoDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskEndDialog
+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.common.SweeperCommon
@@ -160,12 +162,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType, taskInfo: SweeperTask.TaskInfo?) {
         this.mTaskInfo = taskInfo
         this.mSubMutableList = taskInfo?.subListList
+        CallerLogger.d(SceneConstant.M_SWEEPER + TAG, taskInfo?.let { printMessage(it) })
+        if (taskInfo == null) {
+            setShowCurrentTaskPanelView(false)
+            return
+        }
         //主动拉取云端正在执行的任务，有则直接在任务列表展示
         if (messageType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
-            if (taskInfo == null) {
-                setShowCurrentTaskPanelView(false)
-                return
-            }
             getCurrentView().setData(taskInfo, getCurrentPosition())
             setShowCurrentTaskPanelView(true)
             addTaskData()
@@ -212,6 +215,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
      * 云端请求结束大任务
      */
     fun onSweeperCloudTaskStop(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType) {
+        mLoadingDialog.hideLoading()
         mTaskInfo?.let {
             //如果云端要更新的任务和本地缓存任务不是同一个，在无法结束任务
             if (taskId != it.taskId) {
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 ffda68b95e..ca48e79efa 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
@@ -3,6 +3,7 @@ package com.mogo.och.sweepercloud.model;
 import android.content.Context;
 
 import com.amap.api.maps.model.LatLng;
+import com.elegant.utils.UiThreadHandler;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.IMogoStatusChangedListener;
@@ -210,13 +211,12 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         mSubTaskType = SweeperTask.TaskModel.UNRECOGNIZED;
     }
 
+
     /**
-     * 保存自动驾驶状态
-     *
-     * @param autopilotState
+     * 获取自动开始状态
      */
-    public void setAutopilotState(int autopilotState) {
-        this.mAutopilotState = autopilotState;
+    public int getAutopilotState() {
+        return this.mAutopilotState;
     }
 
     public static List<SweeperRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(Context mContext,
@@ -298,7 +298,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime,
                                          SweeperTask.TaskInfo taskInfo) {
         if (taskInfo != null) {
-            CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTask：" + printMessage(taskInfo));
+            CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
+                    "onSweeperFutianCloudTask：" + printMessage(taskInfo) + "mSweeperTaskCallback：" + mSweeperTaskCallback);
         }
         if (mSweeperTaskCallback != null) {
             msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -456,8 +457,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         SweeperTask.GetTaskReq getTaskReq = builder.build();
         CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo);
         getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
-        // TODO: 2023/5/5 模拟云控获取任务 
-        SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.PadSendGetTaskReq);
+        // TODO: 2023/5/5 模拟云控获取任务
+        UiThreadHandler.postDelayed(() -> {
+            SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.PadSendGetTaskReq);
+        }, 1000);
+
     }
 
     /**
@@ -536,6 +540,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     @Override
     public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
         CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + autoPilotStatusInfo.getState());
+        this.mAutopilotState = autoPilotStatusInfo.getState();
         switch (autoPilotStatusInfo.getState()) {
             case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
                 break;
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 d732f5324e..03a19360c8 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
@@ -3,7 +3,6 @@ package com.mogo.och.sweepercloud.presenter;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
@@ -83,6 +82,14 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
         }
     }
 
+    /**
+     * 获取自动驾驶状态
+     * @return
+     */
+    public int getAutopilotState() {
+        return SweeperTaskModel.getInstance().getAutopilotState();
+    }
+
     @Override
     public void startOpenAutopilot() {
 
@@ -102,16 +109,6 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
         SweeperTaskModel.getInstance().setSubtask(subTaskId, subTaskType, currentLineId);
     }
 
-    /**
-     * 测试使用
-     *
-     * @param status
-     */
-    public void debugAutoPilotStatus(int status) {
-        AutopilotStatusInfo info = new AutopilotStatusInfo();
-        info.setState(status);
-    }
-
     /**
      * 获取当前正在执行的任务
      */
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 d4a4a8189f..03488ee9a9 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
@@ -4,6 +4,8 @@ import android.content.Context
 import com.google.protobuf.MessageOrBuilder
 import com.google.protobuf.TextFormat
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
 import com.mogo.och.sweepercloud.model.SweeperTaskModel
@@ -16,6 +18,8 @@ import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 
 object SweeperCloudTaskUtils {
+    const val TAG = "SweeperCloudTaskUtils"
+
     /**
      * 模拟云控发送任务给pad
      */
@@ -99,6 +103,7 @@ object SweeperCloudTaskUtils {
             System.currentTimeMillis(),
             builder.build()
         )
+        CallerLogger.d(SceneConstant.M_SWEEPER + TAG, "messageType:"+messageType+"taskInfo:"+printMessage(builder.build()))
     }
 
     /**
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 9516c3597b..ab9eac8b72 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
@@ -100,22 +100,23 @@
         app:layout_constraintTop_toTopOf="parent"
         app:roundLayoutRadius="@dimen/dp_16">
 
-        <com.mogo.eagle.core.function.hmi.ui.widget.SweeperVideoView
-            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" />
+        <!--  <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" />-->
 
         <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"
             app:layout_constraintStart_toStartOf="parent"
-            app:layout_constraintTop_toBottomOf="@+id/sweeper_video_view" />
+            app:layout_constraintTop_toTopOf="parent" />
     </com.mogo.och.common.module.wigets.OCHRoundConstraintLayout>
 
     <ImageView
@@ -198,12 +199,12 @@
         android:id="@+id/btnSendTask"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_200"
         android:background="#f00"
         android:text="发送任务"
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        android:layout_marginTop="@dimen/dp_200"/>
+        app:layout_constraintTop_toTopOf="parent" />
 
     <Button
         android:id="@+id/btnSendSubTaskConfirm"
@@ -221,8 +222,8 @@
         android:layout_height="wrap_content"
         android:background="#00f"
         android:text="结束大任务"
-        android:textSize="30sp"
         android:textColor="#fff"
+        android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@id/btnSendTask"
         app:layout_constraintTop_toBottomOf="@id/btnSendSubTaskConfirm" />
 
@@ -242,8 +243,8 @@
         android:layout_height="wrap_content"
         android:background="#000000"
         android:text="大任务状态"
-        android:textSize="30sp"
         android:textColor="#fff"
+        android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@id/btnSendSubtaskStatus"
         app:layout_constraintTop_toBottomOf="@id/btnSendSubtaskStatus" />