diff --git a/OCH/bus/driver/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java b/OCH/bus/driver/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
index e4ac8afcd6..29d93ff0ea 100644
--- a/OCH/bus/driver/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
+++ b/OCH/bus/driver/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
@@ -62,7 +62,7 @@ import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
 import com.mogo.och.common.module.biz.provider.LoginService;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.manager.distancemamager.ITrajectoryListener;
 import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
index a500888d16..912d062d9d 100644
--- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -31,7 +31,7 @@ import com.mogo.och.bus.util.BusTrajectoryManager;
 import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
 import com.mogo.och.common.module.biz.callback.ILoginCallback;
 import com.mogo.och.common.module.biz.constant.LoginStatusManager;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.voice.VoiceNotice;
 
 import java.util.ArrayList;
diff --git a/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt b/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
index 0348fab89c..e197de6b11 100644
--- a/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
+++ b/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
@@ -16,7 +16,6 @@ import com.magic.mogo.och.charter.manager.CharterAnalyticsManager
 import com.magic.mogo.och.charter.manager.CharterTrajectoryManager
 import com.magic.mogo.och.charter.net.DriverM1ServiceManager
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener
-import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.module.intent.IMogoIntentListener
 import com.mogo.commons.module.intent.IntentManager
 import com.mogo.commons.voice.AIAssist
@@ -56,14 +55,10 @@ import com.mogo.och.common.module.manager.CharterSendTripInfoManager
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager.ARRIVE_STATION
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager.END_TRIP
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager.START_TRIP
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.utils.*
 import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.data.bean.*
-import io.reactivex.exceptions.UndeliverableException
-import io.reactivex.functions.Consumer
-import io.reactivex.plugins.RxJavaPlugins
-import java.io.IOException
 
 /**
  * @author: wangmingjun
diff --git a/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt b/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt
index 9350749c85..9b1a7c84b2 100644
--- a/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt
+++ b/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt
@@ -22,7 +22,7 @@ import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean
 import com.mogo.och.common.module.biz.callback.ILoginCallback
 import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager.OPERATION_ROAD_SIDE_TYPE
 import com.mogo.och.common.module.biz.constant.LoginStatusManager.isLogin
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.StopSideStatusManager
 import com.mogo.och.common.module.utils.DateTimeUtil
 import mogo.telematics.pad.MessagePad
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 ed21b9ba9d..692b642f2b 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
@@ -41,7 +41,7 @@ import com.mogo.och.common.module.biz.constant.TaxiLoginStatusEnum
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager.LEAVE_STATION
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.common.module.utils.PinYinUtil
@@ -964,7 +964,7 @@ object CharterPassengerModel {
             // 清理轨迹
             cleanRoutePoints()
             // 到站结束自驾
-            CallerAutoPilotControlManager.cancelAutoPilot()
+            CallerAutoPilotControlManager.cancelAutoPilot4Passenger()
             // 结束路距计算 到达目的站点
             endCalculateDistanceLoop()
             // 到站置距离位0
diff --git a/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/presenter/BusPassengerPresenter.kt b/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/presenter/BusPassengerPresenter.kt
index acfac46059..50f6138ea2 100644
--- a/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/presenter/BusPassengerPresenter.kt
+++ b/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/presenter/BusPassengerPresenter.kt
@@ -32,7 +32,7 @@ import com.mogo.och.charter.passenger.ui.MainFragment
 import com.mogo.och.charter.passenger.ui.overmapview.MakerWithSiteName
 import com.mogo.och.charter.passenger.ui.overmapview.MakerWithSiteNamewithCheck
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.StopSideStatusManager
 import com.mogo.och.common.module.manager.devicemanage.LightAirconditionDoorCallback
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/constant/OchCommonConst.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/constant/OchCommonConst.kt
index fe0e21da28..e110fa20ec 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/constant/OchCommonConst.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/constant/OchCommonConst.kt
@@ -25,5 +25,8 @@ class OchCommonConst {
         const val LOGINSERVICE = "/ochbiz/common/login"
 
         const val BUSINESS_STRING = 100
+
+        // 自动驾驶自动规划的最大距离
+        const val AUTOMATIC_PLANNING_MAX_DISTANCE = 15
     }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
similarity index 92%
rename from OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
rename to OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
index 0c8b505082..bb7491b45d 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
@@ -1,4 +1,4 @@
-package com.mogo.och.common.module.manager;
+package com.mogo.och.common.module.manager.autopilotmanager;
 
 import android.content.Context;
 
@@ -59,8 +59,11 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
                 return "未知异常";
             }else {
                 StringBuilder stringBuilder = new StringBuilder();
-                for (UnableAutopilotReason unableAutopilotReason : unableAutopilotReasons) {
-                    stringBuilder.append(unableAutopilotReason.toString()).append("\n");
+                for (int i = 0; i < unableAutopilotReasons.size(); i++) {
+                    stringBuilder.append(unableAutopilotReasons.get(i));
+                    if(i<unableAutopilotReasons.size()-1){
+                        stringBuilder.append("\n");
+                    }
                 }
                 return stringBuilder.toString();
             }
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt
index 6f858d0ef3..872447d708 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt
@@ -12,6 +12,8 @@ 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_OCHCOMMON
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.LocationUtils
+import com.mogo.och.common.module.biz.constant.OchCommonConst
 import com.mogo.och.common.module.manager.loopmanager.BizLoopManager
 import com.mogo.och.common.module.manager.loopmanager.LoopInfo
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
@@ -541,4 +543,87 @@ object  TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
         d(M_OCHCOMMON+ TAG,location)
     }
 
+
+    fun canStartAutopilot(lineId: Long):String{
+
+        fun distanceWithStartStation():String{
+            if (startStationInfo.stationPoint==null) {
+                return "请选择起始结束站点"
+            }
+            val currentPoint = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
+            val distance = CoordinateUtils.calculateLineDistance(
+                currentPoint.longitude,
+                currentPoint.latitude,
+                startStationInfo.stationPoint!!.longitude,
+                startStationInfo.stationPoint!!.latitude
+            )
+            if(distance <= OchCommonConst.AUTOMATIC_PLANNING_MAX_DISTANCE){
+                return ""
+            }else{
+                return "距离起始站点过远：${distance}米"
+            }
+        }
+
+        if(mRoutePoints.isNullOrEmpty()){
+            // 判断距离起始站的距离
+            return distanceWithStartStation()
+        }else{
+            if(lineId!=this.lineId){
+                // 判断距离起始站的距离
+                return distanceWithStartStation()
+            }else{
+                val currentPoint = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
+                // 判断距离轨迹的距离
+                val carLocationInfo: Triple<Int, Boolean?, Float> =
+                    CoordinateCalculateRouteUtil.getNearestPointInfo(
+                        preCarLocationIndexInTrajectory,
+                        mRoutePoints!!.size - 1,
+                        mRoutePoints!!,
+                        currentPoint,
+                        2
+                    )
+                if(carLocationInfo.first<=OchCommonConst.AUTOMATIC_PLANNING_MAX_DISTANCE){
+                    return ""// 可以启动自驾
+                }else{
+                    mRoutePoints?.let {
+                        // 判断距离线段的距离  垂足的距离
+                        val nextPoint:MogoLocation
+                        val prePoint:MogoLocation
+                        if(carLocationInfo.second==true){
+                            if(carLocationInfo.first>0){
+                                nextPoint = it[carLocationInfo.first]
+                                prePoint = it[carLocationInfo.first-1]
+                            } else {
+                                // 距离第一个点大于15m 过远
+                                return "距离第一个轨迹点超过15m：${carLocationInfo.first}米"
+                            }
+                        }else{
+                            if (carLocationInfo.first + 1 < it.size) {
+                                nextPoint = it[carLocationInfo.first + 1]
+                                prePoint = it[carLocationInfo.first]
+                            }else{
+                                nextPoint = it[carLocationInfo.first ]
+                                prePoint = it[carLocationInfo.first-1]
+                            }
+                        }
+                        val pointToLine = LocationUtils.pointToLine(
+                            prePoint.longitude,
+                            prePoint.latitude,
+                            nextPoint.longitude,
+                            nextPoint.latitude,
+                            currentPoint.longitude,
+                            currentPoint.latitude
+                        )
+                        if(pointToLine<=OchCommonConst.AUTOMATIC_PLANNING_MAX_DISTANCE){
+                            return ""
+                        }else{
+                            return "距离轨迹线的距离大于15m,无法启动自驾"
+                        }
+                    }
+                }
+            }
+        }
+        return "未能计算出车辆距离轨迹或站点的距离"
+    }
+
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/DateTimeUtil.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/DateTimeUtil.java
index 8374af2924..e081d76001 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/DateTimeUtil.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/DateTimeUtil.java
@@ -150,4 +150,21 @@ public class DateTimeUtil {
         return stringBuffer.toString();
 
     }
+
+    public static String second2MMSS(Long second) {
+        if (second == null || second < 0) {
+            return "00:00";
+        }
+        long m = (long) Math.floor((second % 3600) / 60.0);// 向上取整
+        long s = second % 60;
+        StringBuilder stringBuffer = new StringBuilder();
+        if (m > 0) {
+            stringBuffer.append(m < 10 ? ("0" + m) : m).append(":");
+        }else {
+            stringBuffer.append("00:");
+        }
+        stringBuffer.append(s < 10 ? ("0" + s) : s);
+        return stringBuffer.toString();
+
+    }
 }
diff --git a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
index 58bf85296e..59562c4738 100644
--- a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
+++ b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
@@ -69,7 +69,7 @@ import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
 import com.mogo.och.common.module.biz.provider.LoginService;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.DateTimeUtil;
 import com.mogo.och.common.module.utils.NumberFormatUtil;
diff --git a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
index d7e93dd771..057d2948b9 100644
--- a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -31,9 +31,8 @@ import com.mogo.och.bus.util.BusTrajectoryManager;
 import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
 import com.mogo.och.common.module.biz.callback.ILoginCallback;
 import com.mogo.och.common.module.biz.constant.LoginStatusManager;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.voice.VoiceNotice;
-import com.mogo.och.data.manager.cache.CacheDataManager;
 
 import org.jetbrains.annotations.NotNull;
 
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 8a455a177d..91673ddac4 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
@@ -1,9 +1,6 @@
 package com.mogo.och.sweepercloud.fragment;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
-
 import android.os.Bundle;
-import android.os.Parcelable;
 import android.view.LayoutInflater;
 import android.view.MotionEvent;
 import android.view.View;
@@ -16,7 +13,6 @@ import androidx.constraintlayout.widget.Group;
 import androidx.fragment.app.FragmentTransaction;
 
 import com.amap.api.maps.model.LatLng;
-import com.elegant.network.utils.GsonUtil;
 import com.google.protobuf.TextFormat;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.IView;
@@ -33,7 +29,6 @@ import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
 import com.mogo.eagle.core.function.view.MapBizView;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
@@ -42,9 +37,8 @@ import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.listener.MogoMapListenerHandler;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
-import com.mogo.och.common.module.utils.PinYinUtil;
 import com.mogo.och.sweepercloud.R;
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
 import com.mogo.och.sweepercloud.callback.ISweeperTaskDataToFragmentCallback;
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 33d42c9a6d..d28a75a76f 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
@@ -29,7 +29,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSyste
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.NumberFormatUtil;
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
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 c454c5e66f..ef59d0863f 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
@@ -6,7 +6,7 @@ import com.mogo.commons.mvp.Presenter;
 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;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
 import com.mogo.och.sweepercloud.callback.ISweeperControllerStatusCallback;
 import com.mogo.och.sweepercloud.callback.ISweeperCloudTaskCallback;
diff --git a/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java b/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
index 1811d9923c..08006c5490 100644
--- a/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -33,7 +33,7 @@ import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManag
 import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage;
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.NumberFormatUtil;
 import com.mogo.och.common.module.utils.PinYinUtil;
diff --git a/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java b/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
index 723f8619b6..1a2bf393d3 100644
--- a/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
+++ b/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
@@ -20,7 +20,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.NumberFormatUtil;
 import com.mogo.och.sweeper.bean.SweeperMainTaskBean;
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 b47e691371..e641b10b75 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
@@ -49,7 +49,7 @@ import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
 import com.mogo.och.common.module.biz.provider.LoginService;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.manager.distancemamager.IDistanceListener;
 import com.mogo.och.common.module.manager.distancemamager.ITrajectoryListener;
 import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager;
diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
index 18db1efb9f..112190771e 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -19,7 +19,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
 import com.mogo.och.common.module.biz.callback.ILoginCallback;
 import com.mogo.och.common.module.biz.constant.LoginStatusManager;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.voice.VoiceNotice;
 import com.mogo.och.taxi.bean.OrderQueryRespBean;
 import com.mogo.och.taxi.bean.OrderQueryRouteInfoRespBean;
@@ -37,8 +37,6 @@ import org.jetbrains.annotations.NotNull;
 
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author congtaowang
  * @since 2021/1/18
diff --git a/OCH/taxi/driver/src/main/res/layout/taxi_rotting_navi_view.xml b/OCH/taxi/driver/src/main/res/layout/taxi_rotting_navi_view.xml
index 0946417950..2afe4b0610 100644
--- a/OCH/taxi/driver/src/main/res/layout/taxi_rotting_navi_view.xml
+++ b/OCH/taxi/driver/src/main/res/layout/taxi_rotting_navi_view.xml
@@ -8,7 +8,7 @@
     app:cardUseCompatPadding="true"
     app:cardPreventCornerOverlap="false"
     app:cardBackgroundColor="@android:color/transparent">
-    <com.mogo.och.taxi.ui.navi.auto.TaxiMapDirectionView
+    <com.mogo.och.taxi.ui.TaxiMapDirectionView
             android:id="@+id/rotting_navi_view"
             android:layout_width="match_parent"
             android:layout_height="match_parent"/>
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 acf69ba1c8..43721325ec 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
@@ -12,7 +12,7 @@ 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.biz.network.OchCommonServiceCallback
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.utils.PinYinUtil
 import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerBaseRespBean
diff --git a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
index 0b9acd515d..0527f0798c 100644
--- a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
+++ b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
@@ -16,13 +16,12 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI_P
-import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback
 import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.distancemamager.IDistanceListener
 import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.manager.loopmanager.BizLoopManager
@@ -30,7 +29,6 @@ import com.mogo.och.common.module.manager.loopmanager.LoopInfo
 import com.mogo.och.common.module.utils.RxUtils
 import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerBaseRespBean
-import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrderQueryRemainingResp
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrderQueryRespBean
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrdersInServiceQueryRespBean
 import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerOrderStatusCallback
diff --git a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.kt b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.kt
index 11d638c265..96c060d20b 100644
--- a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.kt
+++ b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.kt
@@ -7,7 +7,7 @@ import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrderQueryRespBean
 import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerOrderStatusCallback
 import com.mogo.och.taxi.passenger.constant.TaxiPassengerOrderStatusEnum
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverCarServiceBean.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverCarServiceBean.kt
index be0509fefd..3f705b6cc8 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverCarServiceBean.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverCarServiceBean.kt
@@ -20,5 +20,6 @@ data class UnmannedLogoutReqBean(var sn: String, var loc: GcjLatLon?)
 data class StartServiceReqBean(var sn: String, var gcjLat: Double, var gcjLon: Double)
 
 data class StartServiceRespBean(var data: Result?): BaseData(){
-    data class Result(var siteId: Long,var siteName: String,var gcjLat: Double, var gcjLon: Double)
+    data class Result(var siteId: Long,var siteName: String,var gcjLat: Double, var gcjLon: Double,
+                      var wgs84Lon: Double, var wgs84Lat: Double )
 }
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiTaskWithOrderCallback.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiTaskWithOrderCallback.kt
index 14fcfcb8dc..59992d55aa 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiTaskWithOrderCallback.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiTaskWithOrderCallback.kt
@@ -12,4 +12,6 @@ interface ITaxiTaskWithOrderCallback {
     fun onOrderTotalMileAndDurationChanged(mileage: Float, duration: Int)
     fun onOrderJourneyCompleted()
     fun onStartAutopilot()
+
+    fun onStartPrepareTask120s(isStart: Boolean)
 }
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
index 17b3fdc1e1..30857c7016 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
@@ -12,7 +12,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
 import com.mogo.och.common.module.biz.callback.ILoginCallback;
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
 import com.mogo.och.taxi.callback.ITaxiADASStatusCallback;
 import com.mogo.och.taxi.callback.ITaxiControllerStatusCallback;
 import com.mogo.och.taxi.callback.ITaxiOrderStatusCallback;
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt
index fd8669a978..af2fac92ce 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt
@@ -4,13 +4,20 @@ import android.content.BroadcastReceiver
 import android.content.Context
 import android.content.Intent
 import android.content.IntentFilter
+import android.text.SpannableString
+import android.text.Spanned
+import android.text.method.ScrollingMovementMethod
+import android.text.style.ForegroundColorSpan
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.LinearLayout
+import android.widget.TextView
 import androidx.localbroadcastmanager.content.LocalBroadcastManager
+import com.mogo.eagle.core.function.main.MainMoGoApplication
 import com.mogo.eagle.core.network.utils.GsonUtil
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.taxi.R
 import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
@@ -28,6 +35,7 @@ import kotlinx.android.synthetic.main.taxi_debug_order.view.currentOrderStopInfo
 import kotlinx.android.synthetic.main.taxi_debug_order.view.currentOrderTrajectoryInfo
 import kotlinx.android.synthetic.main.taxi_debug_order.view.currentStatus
 import kotlinx.android.synthetic.main.taxi_debug_order.view.currentTaskType
+import kotlinx.android.synthetic.main.taxi_debug_order.view.debugLogHistoryTextView
 import kotlinx.android.synthetic.main.taxi_debug_order.view.orderEndSiteInfo
 import kotlinx.android.synthetic.main.taxi_debug_order.view.orderNo
 import kotlinx.android.synthetic.main.taxi_debug_order.view.orderPreLoadLines
@@ -36,16 +44,54 @@ import kotlinx.android.synthetic.main.taxi_debug_order.view.orderStatus
 import kotlinx.android.synthetic.main.taxi_debug_order.view.taskEndSite
 import kotlinx.android.synthetic.main.taxi_debug_order.view.taskStartSite
 
+
 public class DebugView @JvmOverloads constructor(
-    context: Context,
-    attrs: AttributeSet? = null,
-    defStyleAttr: Int = 0,
-    defStyleRes: Int = 0
+    context: Context, attrs: AttributeSet? = null, defStyleAttr: Int = 0, defStyleRes: Int = 0
 ) : LinearLayout(context, attrs, defStyleAttr, defStyleRes), ITaxiTaskWithOrderCallback {
     companion object {
         const val TAG = "DebugView"
         const val BROADCAST_ACTION = "com.mogo.och.driver.debugview.show"
         const val BROADCAST_DATA_SHOW = "isShow"
+
+        private var logHistoryTextView: TextView? = null
+        fun printInfoMsg(msg: String) {
+            printMsg("Info $msg", MainMoGoApplication.getApp().getColor(R.color.background_info))
+        }
+
+        fun printWarnMsg(msg: String) {
+            printMsg("Warn $msg", MainMoGoApplication.getApp().getColor(R.color.background_warn))
+        }
+
+        fun printErrorMsg(msg: String) {
+            printMsg("Error $msg", MainMoGoApplication.getApp().getColor(R.color.background_error))
+        }
+
+        private fun printMsg(msg: String, textColor: Int) {
+            logHistoryTextView?.also {
+                val msg = "${currentDateTimeString()} $msg"
+                val spannableMsg = SpannableString(msg)
+
+                spannableMsg.setSpan(
+                    ForegroundColorSpan(textColor), 0, msg.length, Spanned.SPAN_EXCLUSIVE_EXCLUSIVE
+                )
+                UiThreadHandler.post({
+                    it.append("\n")
+                    it.append(spannableMsg)
+
+                    val offset: Int = it.lineCount * it.lineHeight
+                    if (offset > it.height) {
+                        it.scrollTo(0, offset - it.height)
+                    }
+                }, UiThreadHandler.MODE.QUEUE)
+            }
+        }
+
+        private fun currentDateTimeString(): String {
+            return DateTimeUtil.formatCalendarToString(
+                DateTimeUtil.formatLongToCalendar(System.currentTimeMillis()),
+                DateTimeUtil.yyyy_MM_dd_HH_mm_ss
+            )
+        }
     }
 
     private val broadcastReceiver = object : BroadcastReceiver() {
@@ -59,9 +105,10 @@ public class DebugView @JvmOverloads constructor(
 
     init {
         initBroadcastReceiver()
-        LayoutInflater.from(context)
-            .inflate(R.layout.taxi_debug_order, this, true)
+        LayoutInflater.from(context).inflate(R.layout.taxi_debug_order, this, true)
+        debugLogHistoryTextView.setMovementMethod(ScrollingMovementMethod.getInstance())
         visibility = GONE
+        logHistoryTextView = debugLogHistoryTextView
     }
 
     private fun initBroadcastReceiver() {
@@ -71,11 +118,8 @@ public class DebugView @JvmOverloads constructor(
     }
 
     fun toggleOrderDebugView() {
-        visibility =
-            if (visibility == View.VISIBLE)
-                View.GONE
-            else
-                View.VISIBLE
+        visibility = if (visibility == View.VISIBLE) View.GONE
+        else View.VISIBLE
         val data = TaxiTaskModel.getCurrentTaskWithOrder()
         initViewByData(data)
     }
@@ -100,17 +144,13 @@ public class DebugView @JvmOverloads constructor(
 
     private fun initViewByData(data: QueryCurrentTaskRespBean.Result?) {
         val curContrail = TaxiTaskModel.getCurrentTaskTrajectory()
-        currentDataTimestamps.text = "【当前数据返回时间】${
-            DateTimeUtil.formatCalendarToString(
-                DateTimeUtil.formatLongToCalendar(System.currentTimeMillis()),
-                DateTimeUtil.yyyy_MM_dd_HH_mm_ss
-            )
-        }"
+        currentDataTimestamps.text = "【当前数据返回时间】${currentDateTimeString()}"
         currentCarStatus.text =
-            "【当前车辆状态】${data?.servingStatus} / ${if (data?.servingStatus == 1) "开始接单" else "暂停接单"}"
-        currentTaskType.text = "【当前任务类型】${data?.taskType} / ${TaskTypeEnum.valueOf(data?.taskType ?: -1)?.name}"
+            "【当前车辆状态】${data?.servingStatus} --> ${if (data?.servingStatus == 1) "开始接单" else "暂停接单"}"
+        currentTaskType.text =
+            "【当前任务类型】${data?.taskType} --> ${TaskTypeEnum.valueOf(data?.taskType ?: -1)?.name}"
         currentStatus.text =
-            "【当前任务状态】${data?.currentStatus} / ${TaskStatusEnum.valueOf(data?.currentStatus ?: -1)?.name}"
+            "【当前任务状态】${data?.currentStatus} --> ${TaskStatusEnum.valueOf(data?.currentStatus ?: -1)?.name}"
         currentLineId.text = "【当前任务lineId】 ${data?.lineId}"
         taskStartSite.text =
             "【当前任务起点】${data?.startSite?.siteName} siteId=${data?.startSite?.siteId}"
@@ -119,7 +159,7 @@ public class DebugView @JvmOverloads constructor(
         currentOrder.text = "【订单信息】${if (data?.order == null) "null" else "不为空"}"
         orderNo.text = "【订单编号】${data?.order?.orderNo}"
         orderStatus.text =
-            "【订单状态】${data?.order?.orderStatus} / ${TaxiOrderStatusEnum.valueOf(data?.order?.orderStatus ?: -1)?.name}"
+            "【订单状态】${data?.order?.orderStatus} --> ${TaxiOrderStatusEnum.valueOf(data?.order?.orderStatus ?: -1)?.name}"
         orderStartSiteInfo.text =
             "【订单起点】${data?.order?.orderStartSite?.siteName} siteId=${data?.order?.orderStartSite?.siteId}"
         orderEndSiteInfo.text =
@@ -157,4 +197,8 @@ public class DebugView @JvmOverloads constructor(
 
     override fun onStartAutopilot() {
     }
+
+    override fun onStartPrepareTask120s() {
+
+    }
 }
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaskUiState.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaskUiState.kt
index 5ce90e3d41..a80e2adcbf 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaskUiState.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaskUiState.kt
@@ -1,4 +1,4 @@
-package com.mogo.och.taxi.ui.unmanned
+package com.mogo.och.taxi.ui.task
 
 import com.mogo.och.taxi.base.IUiState
 import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
@@ -24,4 +24,6 @@ sealed class TaskWithOrderUIState {
         TaskWithOrderUIState()
 
     data class UpdateTaskTripInfo(val mileage: Float, val duration: Int) : TaskWithOrderUIState()
+
+    data class UpdatePrepareTaskDelay120S(val isStart: Boolean) : TaskWithOrderUIState()
 }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
index 5cbdab749e..9af8999448 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
@@ -4,6 +4,8 @@ import android.annotation.SuppressLint
 import android.graphics.Color
 import android.graphics.drawable.GradientDrawable
 import android.os.Bundle
+import android.os.CountDownTimer
+import android.text.TextUtils
 import android.view.View
 import androidx.core.content.ContextCompat
 import androidx.lifecycle.ViewModelProvider
@@ -24,6 +26,8 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel
 import com.mogo.och.common.module.map.ICommonNaviChangedCallback
+import com.mogo.och.common.module.utils.DateTimeUtil
+import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.common.module.wigets.OCHCommitDialog
 import com.mogo.och.taxi.R
 import com.mogo.och.taxi.bean.OrderDetail
@@ -34,9 +38,9 @@ import com.mogo.och.taxi.constant.TaskTypeEnum
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
 import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.TAXI_END_MAP_MAKER
 import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.TAXI_START_MAP_MAKER
+import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.TIMER_PREPARE_TASK_INTERVAL_120S
 import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.TYPE_MARKER_TAXI_ORDER
 import com.mogo.och.taxi.ui.base.TaxiFragment
-import com.mogo.och.taxi.ui.unmanned.TaskWithOrderUIState
 import com.mogo.och.taxi.utils.MapMakerManager
 import com.mogo.och.taxi.utils.TaskUtils
 import kotlinx.android.synthetic.main.task_fragment_current.cancelOrder
@@ -47,6 +51,7 @@ import kotlinx.android.synthetic.main.task_fragment_current.naviToEnd
 import kotlinx.android.synthetic.main.task_fragment_current.naviToStart
 import kotlinx.android.synthetic.main.task_fragment_current.noTaskData
 import kotlinx.android.synthetic.main.task_fragment_current.orderPhoneAndNum
+import kotlinx.android.synthetic.main.task_fragment_current.pathwayPoint
 import kotlinx.android.synthetic.main.task_fragment_current.startPoint
 import kotlinx.android.synthetic.main.task_fragment_current.startStationName
 import kotlinx.android.synthetic.main.task_fragment_current.taskClickBtn
@@ -54,6 +59,7 @@ import kotlinx.android.synthetic.main.task_fragment_current.taskOtherInfo
 import kotlinx.android.synthetic.main.task_fragment_current.taskStatus
 import kotlinx.android.synthetic.main.task_fragment_current.taskTypeTv
 import kotlinx.android.synthetic.main.taxi_no_data_common_view.noOrderDataTv
+import kotlinx.android.synthetic.main.taxi_no_data_common_view.prepareTaskCountdownTv
 import kotlinx.coroutines.flow.map
 
 /**
@@ -65,6 +71,8 @@ class TaxiCurrentTaskFragment : BaseFragment(),
 
     private lateinit var mViewModel: TaxiCurrentTaskViewModel
 
+    private var mPrepareTasCountDownTimer: CountDownTimer? = null
+
     companion object {
         const val TAG = M_TAXI + "TaxiCurrentTaskFragment"
         private var mTaxiFragment: TaxiFragment? = null
@@ -157,6 +165,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
                         if (taskAndOrderUiState.driveToNearestStationTask != null) {
                             updateViewByDriveToNearestStationTask(taskAndOrderUiState.driveToNearestStationTask)
                         } else {
+                            updatePrepareTaskDelay120SUI(false)
                             initContainerView(false)
                             removeAllMapMarker()
                         }
@@ -181,11 +190,51 @@ class TaxiCurrentTaskFragment : BaseFragment(),
                                 taskAndOrderUiState.duration
                             )
                     }
+
+                    is TaskWithOrderUIState.UpdatePrepareTaskDelay120S -> {
+                        updatePrepareTaskDelay120SUI(taskAndOrderUiState.isStart)
+                    }
                 }
             }
         }
     }
 
+    /**
+     * 更新120s倒计时
+     */
+    private fun updatePrepareTaskDelay120SUI(isStart: Boolean) {
+
+        if (!isStart){
+            prepareTaskCountdownTv.visibility  = View.GONE
+            mPrepareTasCountDownTimer?.cancel()
+            mPrepareTasCountDownTimer = null
+            return
+        }
+
+        prepareTaskCountdownTv.visibility  = View.VISIBLE
+        mPrepareTasCountDownTimer = object : CountDownTimer(TIMER_PREPARE_TASK_INTERVAL_120S, 1000L) {// 5倒计时后开启自驾
+
+            @SuppressLint("SetTextI18n")
+            override fun onTick(millisUntilFinished: Long) {
+                // 倒计时
+                UiThreadHandler.post {
+                    prepareTaskCountdownTv.text =
+                        "距离任务获取还有 ${DateTimeUtil.second2MMSS(millisUntilFinished/1000)}"
+                }
+            }
+
+            override fun onFinish() {
+                //倒计时结束了...
+                UiThreadHandler.post {
+                    prepareTaskCountdownTv.visibility  = View.GONE
+                }
+                mPrepareTasCountDownTimer?.cancel()
+            }
+        }
+
+        mPrepareTasCountDownTimer?.start()
+    }
+
     private fun updateViewByDriveToNearestStationTask(driveToNearestStationTask: StartServiceRespBean.Result?) {
         if (driveToNearestStationTask == null) return
         initContainerView(true)
@@ -200,6 +249,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
         naviToStart.visibility = View.GONE
         naviToEnd.visibility = View.VISIBLE
         taskOtherInfo.visibility = View.VISIBLE
+        pathwayPoint.visibility = View.GONE
 
         // 更新任务状态，起点，终点
         taskStatus.text = resources.getString(R.string.task_start_to_virtual_site)
@@ -207,6 +257,14 @@ class TaxiCurrentTaskFragment : BaseFragment(),
         endStationName.text = driveToNearestStationTask.siteName
         updateStartAndEndStationPointByStatus(true)
 
+        setOrRemoveMapMaker(
+            true,
+            TAXI_END_MAP_MAKER,
+            driveToNearestStationTask.wgs84Lat,
+            driveToNearestStationTask.wgs84Lon,
+            R.raw.end_marker
+        )
+
         // 使用高德获取导航数据
         startNaviToStation(
             false,
@@ -296,6 +354,8 @@ class TaxiCurrentTaskFragment : BaseFragment(),
             TaskTypeEnum.None.code -> {
                 if (order != null && currentStatus == TaskStatusEnum.CompleteTask.code) {
                     handleOrderView(order)
+                    updateOrderUI(order)
+                    VoiceNotice.showNotice("已为您接到订单")
                 }
             }
 
@@ -312,19 +372,12 @@ class TaxiCurrentTaskFragment : BaseFragment(),
                     if (currentStatus >= TaskStatusEnum.StartTask.code) View.VISIBLE else View.GONE
                 taskOtherInfo.visibility =
                     if (currentStatus == TaskStatusEnum.GetTask.code) View.GONE else View.VISIBLE
-            }
 
-            TaskTypeEnum.ToOrderEndTask.code, TaskTypeEnum.ToOrderStartTask.code -> {// 接驾任务 或 送驾任务
-                order.also {
-                    handleOrderView(it)
-                }
-            }
-        }
+                pathwayPoint.visibility = View.GONE
 
-        when (taskType) {
-            TaskTypeEnum.VirtualTask.code -> {// 演练任务
                 if (order != null && currentStatus == TaskStatusEnum.CompleteTask.code) {
                     updateOrderUI(order)
+                    VoiceNotice.showNotice("已为您接到订单")
                     return
                 }
                 if (startSite == null || endSite == null) return
@@ -335,24 +388,30 @@ class TaxiCurrentTaskFragment : BaseFragment(),
                 taskTypeTv.text = resources.getString(R.string.task_exercise)
                 startStationName.text = startSite.siteName
                 endStationName.text = endSite.siteName
+                updatePrepareTaskDelay120SUI(false)
                 updateStartAndEndStationPointByStatus(true)
             }
 
-            TaskTypeEnum.ToOrderEndTask.code, TaskTypeEnum.ToOrderStartTask.code -> {// 送驾/接驾任务任务
-                if (order == null) return
-                updateOrderUI(order)
-            }
-
-            TaskTypeEnum.None.code -> {
-                if (order != null) {
-                    updateOrderUI(order)
+            TaskTypeEnum.ToOrderEndTask.code, TaskTypeEnum.ToOrderStartTask.code -> {// 接驾任务 或 送驾任务
+                order?.also {
+                    updatePathwayPoint(taskType,endSite?.siteName)
+                    handleOrderView(it)
+                    updateOrderUI(it)
                 }
             }
         }
+
         updateMapMarkers(taskAndOrder)
         updateRemainDistanceAndTime(false)
     }
 
+    private fun updatePathwayPoint(taskType: Int,endSiteName: String?) {
+        if (TextUtils.isEmpty(endSiteName)) return
+        pathwayPoint.visibility = if (taskType == TaskTypeEnum.ToOrderStartTask.code)
+            View.VISIBLE else View.GONE
+        pathwayPoint.text = "途径: $endSiteName"
+    }
+
     private fun updateMapMarkers(taskAndOrder: QueryCurrentTaskRespBean.Result?) {
         if (taskAndOrder != null && taskAndOrder!!.startSite != null
             && taskAndOrder!!.endSite != null
@@ -418,6 +477,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
     }
 
     private fun updateOrderUI(order: OrderDetail) {
+        updatePrepareTaskDelay120SUI(false)
         taskTypeTv.text = resources.getString(R.string.task_order)
         taskTypeTv.background =
             ContextCompat.getDrawable(
@@ -546,6 +606,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
 
     override fun onDestroyView() {
         AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
+        updatePrepareTaskDelay120SUI(false)
         super.onDestroyView()
     }
 
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
index 51cee6c1a1..5a6f2de027 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
@@ -24,9 +24,7 @@ import com.mogo.och.taxi.constant.TaskStatusEnum
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
 import com.mogo.och.taxi.constant.TaxiUnmannedConst
 import com.mogo.och.taxi.network.TaxiTaskWithOrderServiceManager
-import com.mogo.och.taxi.network.TaxiTaskWithOrderServiceManager.cancelOrder
-import com.mogo.och.taxi.ui.unmanned.TaskWithOrderUIState
-import com.mogo.och.taxi.ui.unmanned.UnmannedState
+import com.mogo.och.taxi.ui.debug.DebugView
 import com.mogo.och.taxi.utils.TaxiTrajectoryManager
 
 /**
@@ -82,8 +80,10 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
     fun startOrStopCurrentTaskWithOrderLoop(start: Boolean) {
         d(TAG, "startOrStopCurrentTaskWithOrderLoop(): isStart=$start")
         if (start) {
+            DebugView.printInfoMsg("[查询TaskWithOrder信息] start loop")
             TaxiTaskModel.startQueryCurrentTaskWithOrderLoop()
         } else {
+            DebugView.printInfoMsg("[查询TaskWithOrder信息] stop loop")
             TaxiTaskModel.stopQueryCurrentTaskWithOrderLoop()
         }
     }
@@ -91,21 +91,24 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
     private fun cancelOrder(cancelType: Int) {
         val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder()
         currentTaskWithOrder?.order?.also {
-            TaxiTaskModel.cancelOrder(it.orderNo,cancelType)
+            TaxiTaskModel.cancelOrder(it.orderNo, cancelType)
         }
     }
 
     private fun jumpPassengerCheck() {
+        DebugView.printInfoMsg("[开始服务] 准备发送请求")
         val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder()
         currentTaskWithOrder?.order?.also {
             TaxiTaskWithOrderServiceManager.jumpPassengerCheck(AbsMogoApplication.getApp().applicationContext,
                 it.orderNo,
                 object : OchCommonServiceCallback<BaseData> {
                     override fun onSuccess(data: BaseData?) {
+                        DebugView.printInfoMsg("[开始服务] 请求success")
                         d(TAG, "jumpPassengerCheck onSuccess:")
                     }
 
                     override fun onFail(code: Int, msg: String?) {
+                        DebugView.printInfoMsg("[开始服务] 请求fail, code=$code, msg=$msg")
                         d(TAG, "jumpPassengerCheck onFail: code=$code, msg=$msg")
                     }
                 })
@@ -113,16 +116,19 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
     }
 
     private fun journeyCompleted() {
+        DebugView.printInfoMsg("[服务完成] 准备发送请求")
         val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder()
         currentTaskWithOrder?.order?.also {
             TaxiTaskWithOrderServiceManager.orderCompleted(AbsMogoApplication.getApp().applicationContext,
                 it.orderNo,
                 object : OchCommonServiceCallback<BaseData> {
                     override fun onSuccess(data: BaseData?) {
+                        DebugView.printInfoMsg("[服务完成] 请求success")
                         d(TAG, "journeyCompleted onSuccess")
                     }
 
                     override fun onFail(code: Int, msg: String?) {
+                        DebugView.printInfoMsg("[服务完成] 请求fail, code=$code, msg=$msg")
                         d(TAG, "journeyCompleted onFail: code=$code, msg=$msg")
                     }
                 })
@@ -167,6 +173,17 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         }
     }
 
+    private fun updatePrepareTaskDelay120SUI(isStart: Boolean){
+        d(TAG, "UpdatePrepareTaskDelay120SUI = $isStart")
+        sendUiState {
+            copy(
+                taskWithOrderUIState = TaskWithOrderUIState.UpdatePrepareTaskDelay120S(
+                    isStart
+                )
+            )
+        }
+    }
+
     private fun updateDriveToNearestStationTaskUI(driveToNearestStationTask: StartServiceRespBean.Result?) {
         d(TAG, "updateDriveToNearestStationTaskUI = ${driveToNearestStationTask?.toString()}")
         sendUiState {
@@ -191,12 +208,14 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
 
     override fun onTaskWithOrderDataChanged(result: QueryCurrentTaskRespBean.Result?) {
         d(TAG, "onTaskWithOrderChanged = result = " + GsonUtil.jsonFromObject(result))
+        DebugView.printInfoMsg("[查询TaskWithOrder信息] 更新数据, 刷新UI")
         updateTaskAndOrderUi(result)
     }
 
     override fun onTaskCompleted(isOrderArrivedAtStart: Boolean, siteId: Long) {
         d(TAG, "onTaskCompleted: isOrderArrivedAtStart=$isOrderArrivedAtStart, siteId=$siteId")
         if (isOrderArrivedAtStart) {
+            TaxiTaskModel.removePrepareTaskDelay120S()
             TaxiTaskModel.prepareNextTask(siteId)
         } else {
             TaxiTaskModel.startPrepareTaskDelay120S(siteId)
@@ -208,7 +227,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
     }
 
     override fun onOrderCancel() {
-        VoiceNotice.showNotice("订单已经取消")
+        VoiceNotice.showNotice("已取消行程")
 //        updateTaskAndOrderUi(null)
     }
 
@@ -237,19 +256,28 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         }, TaxiUnmannedConst.START_AUTOPILOT_COUNTDOWN_INTERVAL) // 10s后开启自驾, 状态流转
     }
 
+    /**
+     * 开始倒计时120拉取任务
+     */
+    override fun onStartPrepareTask120s(isStart: Boolean) {
+        updatePrepareTaskDelay120SUI(isStart)
+    }
+
     override fun onCarEndServiceSuccess(
         driveToNearestStationTask: StartServiceRespBean.Result?,
         currentTaskWithOrder: QueryCurrentTaskRespBean.Result?
     ) {
         if (currentTaskWithOrder?.endSite != null && currentTaskWithOrder.startSite != null
-            && currentTaskWithOrder.currentStatus < TaskStatusEnum.CompleteTask.code) {
+            && currentTaskWithOrder.currentStatus < TaskStatusEnum.CompleteTask.code
+        ) {
             VoiceNotice.showNotice("暂停接单啦！要完成当前订单哦")
         } else {
             VoiceNotice.showNotice("暂停接单啦")
         }
         // TODO 如果当前有订单就不要刷新
         if (currentTaskWithOrder?.startSite != null &&
-            currentTaskWithOrder.endSite != null){
+            currentTaskWithOrder.endSite != null
+        ) {
             return
         }
         updateDriveToNearestStationTaskUI(driveToNearestStationTask)
@@ -273,14 +301,6 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         currentTaskWithOrder: QueryCurrentTaskRespBean.Result?
     ) {
         VoiceNotice.showNotice("开始接单啦")
-        currentTaskWithOrder?.apply {
-            if (endSite != null) {
-                when {
-                    currentStatus == TaskStatusEnum.CompleteTask.code && order != null -> return
-                    currentStatus < TaskStatusEnum.CompleteTask.code -> return
-                }
-            }
-        }
         updateDriveToNearestStationTaskUI(driveToNearestStationTask)
     }
 
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 7b85c8023e..13249cd386 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
@@ -46,13 +46,14 @@ import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.biz.provider.LoginService
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback
 import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.distancemamager.IDistanceListener
 import com.mogo.och.common.module.manager.distancemamager.ITrajectoryListener
 import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager.setStationPoint
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjLocations
+import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.taxi.bean.PrepareTaskRespBean
 import com.mogo.och.taxi.bean.QueryCarOrderByNoRespBean
 import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
@@ -71,6 +72,7 @@ import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
 import com.mogo.och.taxi.constant.TaxiUnmannedConst
 import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.BUSINESSTYPE
 import com.mogo.och.taxi.network.TaxiTaskWithOrderServiceManager
+import com.mogo.och.taxi.ui.debug.DebugView
 import com.mogo.och.taxi.utils.RxJavaUtils
 import com.mogo.och.taxi.utils.TaxiAnalyticsManager
 import com.mogo.och.taxi.utils.TaxiTrajectoryManager
@@ -134,6 +136,8 @@ object TaxiTaskModel {
 
     private val mCurrentTaskRoutePointsGcj: MutableList<MogoLocation> = ArrayList()
 
+    private var mPrepareTaskDelay120SRunnable: Runnable? = null
+
     fun addTaskWithOrderListener(tag: String, listener: ITaxiTaskWithOrderCallback) {
         if (mTaxiTaskWithOrderCallbackMap.containsKey(tag)) {
             return
@@ -325,6 +329,7 @@ object TaxiTaskModel {
             override fun onAutopilotSNRequest() {}
             override fun onAutopilotArriveAtStation(arrivalNotification: ArrivalNotification?) {
                 i(TAG, "onAutopilotArriveAtStation = ${arrivalNotification.toString()}")
+                DebugView.printInfoMsg("[MAP到站通知] 上报到站，location=${arrivalNotification?.endLocation}")
                 if (arrivalNotification == null || !checkCurrentTaskCondition() ||
                     mCurrentTaskWithOrder?.currentStatus == TaskStatusEnum.CompleteTask.code
                 ) {
@@ -387,6 +392,7 @@ object TaxiTaskModel {
                     d(
                         TAG, "getWayPointsList.Size = ${globalPathResp.wayPointsList.size}"
                     )
+                    DebugView.printInfoMsg("[MAP全局规划回调] 回调，getWayPointsList.Size=${globalPathResp.wayPointsList.size}")
                     if (it.size > 0) {
                         // 本地计算全路径长度（实时更新剩余距离，剩余时间，预计到达时间）
                         if (checkCurrentTaskCondition()) {
@@ -416,6 +422,7 @@ object TaxiTaskModel {
                 startFailedCode: String,
                 startFailedMessage: String
             ) {
+                DebugView.printInfoMsg("[启自驾回调] 执行失败，code=$startFailedCode, msg=$startFailedMessage")
                 TaxiAnalyticsManager.getInstance()
                     .triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage)
                 if (mADASStatusCallback != null && !FunctionBuildConfig.isDemoMode) {
@@ -523,7 +530,8 @@ object TaxiTaskModel {
             "judgeDriveToNearestStationTaskStation() ${virtualTask.siteName} distance = $distance"
         )
         if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) { // 15米内到站
-            submitArriveSite(virtualTask.siteId, true)
+            DebugView.printInfoMsg("[高德定位围栏] 触发围栏，任务类型：DriveToNearestStationTask，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米")
+            submitArriveSite(virtualTask.siteId, true, isArrivedNearestStation = true)
         }
     }
 
@@ -560,7 +568,9 @@ object TaxiTaskModel {
      * @siteId : 站点id
      * @isArriveAtEndSite: true 终点, false 起点
      */
-    fun submitArriveSite(siteId: Long, isArriveAtEndSite: Boolean) {
+    fun submitArriveSite(siteId: Long, isArriveAtEndSite: Boolean,
+                         isArrivedNearestStation : Boolean = false) {
+        DebugView.printInfoMsg("[上报ArriveSite] siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
         i(TAG, message = "submitArriveSite: siteId=$siteId isArriveAtEndSite=$isArriveAtEndSite")
         TaxiTaskWithOrderServiceManager.arriveSite(
             mContext,
@@ -568,8 +578,13 @@ object TaxiTaskModel {
             object : OchCommonServiceCallback<BaseData> {
                 override fun onSuccess(data: BaseData?) {
                     if (data == null || data.code != 0) return
+                    DebugView.printInfoMsg("[上报ArriveSite] success siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
                     d(TAG, "submitArriveSite-onSuccess data=" + GsonUtil.jsonFromObject(data))
                     mDriveToNearestStationTask = null
+                    if (isArrivedNearestStation){// 播报提醒
+                        VoiceNotice.showNotice("已到达出车点")
+                    }
+
                     if (isArriveAtEndSite) {
                         updateLocalCalculateStation()
                         //到站后不再调用取消自驾. 原因是取消自驾,D档位会溜车
@@ -578,6 +593,7 @@ object TaxiTaskModel {
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    DebugView.printErrorMsg("[上报ArriveSite] failed, code=$code, msg=$msg")
                     d(TAG, "code=$code msg=$msg")
                 }
             })
@@ -633,10 +649,11 @@ object TaxiTaskModel {
             AbsMogoApplication.getApp().applicationContext,
             object : OchCommonServiceCallback<QueryCurrentTaskRespBean> {
                 override fun onSuccess(data: QueryCurrentTaskRespBean?) {
+                    //DebugView.printInfoMsg("[查询TaskWithOrder信息] success")
                     if (data?.data == null) {
                         d(
                             TAG,
-                            "queryCurrentTaskOnce onSuccess: data.code != 0 || data === null || data.data === null"
+                            "queryCurrentTaskOnce onSuccess:  data == null || data.data == null"
                         )
                         return
                     }
@@ -690,7 +707,9 @@ object TaxiTaskModel {
                         // 主要是解决A-B演练任务同时接到A-B订单状态流转的问题
                         //注意: 需要去除到达乘客上车点的节点, 这个节点不拉取任务
                         if (result?.currentStatus == TaskStatusEnum.CompleteTask.code
-                            && !QueryCurrentTaskRespBean.isOrderArriveAtStart(result)) {
+                            && (!QueryCurrentTaskRespBean.isOrderArriveAtStart(result)
+                                    || !QueryCurrentTaskRespBean.isOrderArriveAtEnd(result))
+                        ) {
                             mTaxiTaskWithOrderCallbackMap.forEach {
                                 val listener = it.value
                                 listener.onTaskCompleted(
@@ -748,6 +767,7 @@ object TaxiTaskModel {
 
                 override fun onFail(code: Int, msg: String?) {
                     d(TAG, "queryCurrentTaskOnce onFail: code=$code, msg=$msg")
+                    DebugView.printErrorMsg("[查询TaskWithOrder信息] fail, code=$code, msg=$msg")
                 }
             })
     }
@@ -755,15 +775,18 @@ object TaxiTaskModel {
     /**
      * 取消订单 进行中/待服务
      */
-    fun cancelOrder(orderNo: String,cancelType: Int){
+    fun cancelOrder(orderNo: String, cancelType: Int) {
+        DebugView.printInfoMsg("[取消订单] 准备发送请求")
         TaxiTaskWithOrderServiceManager.cancelOrder(AbsMogoApplication.getApp().applicationContext,
             orderNo, cancelType,
             object : OchCommonServiceCallback<BaseData> {
                 override fun onSuccess(data: BaseData?) {
+                    DebugView.printInfoMsg("[取消订单] 请求success")
                     d(TAG, "handleCancelOrder() = onSuccess")
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    DebugView.printErrorMsg("[取消订单] 请求fail, code=$code, msg=$msg")
                     d(TAG, "handleCancelOrder() $code $msg")
                 }
             })
@@ -836,22 +859,26 @@ object TaxiTaskModel {
     }
 
     fun startTask(lineId: Long) {
+        DebugView.printInfoMsg("[开始任务] 准备发送请求")
         TaxiTaskWithOrderServiceManager.startTask(
             mContext,
             lineId,
             object : OchCommonServiceCallback<BaseData> {
                 override fun onSuccess(data: BaseData?) {
+                    DebugView.printInfoMsg("[开始任务] 请求success")
                     startAutoPilot() //自驾开启
                     d(TAG, "startTask onSuccess: data=${GsonUtil.jsonFromObject(data)}")
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    DebugView.printErrorMsg("[开始任务] 请求fail, code=$code, msg=$msg")
                     d(TAG, "startTask onFail: code=$code, msg=$msg")
                 }
             })
     }
 
     fun prepareNextTask(siteId: Long) {
+        DebugView.printInfoMsg("[PrepareNextTask] 准备发送请求")
         TaxiTaskWithOrderServiceManager.prepareTask(
             mContext,
             siteId,
@@ -862,6 +889,7 @@ object TaxiTaskModel {
                         "prepareNextTask onSuccess:${GsonUtil.jsonFromObject(data)}, " +
                                 "isCarServingStatus = ${TaxiCarServingStatusManager.isCarServingStatus()}"
                     )
+                    DebugView.printInfoMsg("[PrepareNextTask] 请求success")
                     if (data?.data == null) return
                     //去下载轨迹, 下发给工控机下载
 //                    queryTaskTrajectoryByLineIds(
@@ -871,6 +899,7 @@ object TaxiTaskModel {
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    DebugView.printErrorMsg("[PrepareNextTask] 请求fail, code=$code ,msg=$msg")
                     d(TAG, "prepareNextTask onFail: code=$code ,msg=$msg")
                     if (LoginStatusManager.isLogin() && TaxiCarServingStatusManager.isCarServingStatus()) {
                         startPrepareTaskDelay120S(siteId)
@@ -880,15 +909,38 @@ object TaxiTaskModel {
     }
 
     fun startPrepareTaskDelay120S(siteId: Long) {
-        UiThreadHandler.postDelayed({
-            prepareNextTask(siteId)
-        }, TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S)
+        removePrepareTaskDelay120S()
+
+        if (mPrepareTaskDelay120SRunnable == null){
+            mPrepareTaskDelay120SRunnable = Runnable {
+                    prepareNextTask(siteId)
+            }
+        }
+
+        mTaxiTaskWithOrderCallbackMap.forEach {
+            val listener = it.value
+            listener.onStartPrepareTask120s(true)
+        }
+        DebugView.printInfoMsg("[PrepareNextTask] 倒计时${TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S/1000}秒后prepareNextTask")
+        UiThreadHandler.postDelayed(mPrepareTaskDelay120SRunnable, TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S)
+    }
+
+    fun removePrepareTaskDelay120S() {
+        if (mPrepareTaskDelay120SRunnable != null){
+            DebugView.printInfoMsg("[PrepareNextTask] removeCallbacks prepareNextTask120s")
+            UiThreadHandler.removeCallbacks(mPrepareTaskDelay120SRunnable)
+            mTaxiTaskWithOrderCallbackMap.forEach {
+                val listener = it.value
+                listener.onStartPrepareTask120s(false)
+            }
+        }
     }
 
     /**
      * 查询当前任务的轨迹
      */
     fun queryTaskTrajectoryByLineIds(planningLineIds: Array<Long>, currentTaskLineId: Long) {
+        DebugView.printInfoMsg("[查询轨迹信息] 准备发送请求")
         TaxiTaskWithOrderServiceManager.queryTrajectoryByLindIds(
             mContext,
             planningLineIds,
@@ -898,6 +950,7 @@ object TaxiTaskModel {
                         TAG,
                         "queryTaskTrajectoryByLineIds onSuccess: ${GsonUtil.jsonFromObject(data?.data)}"
                     )
+                    DebugView.printInfoMsg("[查询轨迹信息] 请求success")
                     data?.data?.also {
                         mTaskTrajectoryList.addAll(it)
                         mCurrentTaskTrajectory = it.first { currentTaskLineId == it.lineId }
@@ -909,6 +962,7 @@ object TaxiTaskModel {
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    DebugView.printErrorMsg("[查询轨迹信息] 请求fail, code=$code, msg=$msg")
                     d(TAG, "queryTaskTrajectoryByLineIds onFail: code=$code, msg=$msg")
                 }
             })
@@ -920,10 +974,12 @@ object TaxiTaskModel {
             return
         }
         if (TaxiCarServingStatusManager.isCarServingStatus()) {//接单状态下,去结束
+            DebugView.printInfoMsg("[暂停接单] 准备发送请求")
             TaxiTaskWithOrderServiceManager.endService(
                 mContext,
                 object : OchCommonServiceCallback<BaseData> {
                     override fun onSuccess(data: BaseData?) {
+                        DebugView.printInfoMsg("[暂停接单] 请求success")
                         loginService?.queryLoginStatusByNet()
                         //需要将虚拟任务停掉, 虚拟任务会再开始接单后获取新的
                         mDriveToNearestStationTask = null
@@ -935,22 +991,34 @@ object TaxiTaskModel {
 
                     override fun onError() {
                         mTaxiCarServiceCallback?.onCarEndServiceError()
+                        DebugView.printErrorMsg("[暂停接单] 请求error")
                     }
 
                     override fun onFail(code: Int, msg: String) {
+                        DebugView.printErrorMsg("[暂停接单] 请求fail, code=$code, msg=$msg")
                         mTaxiCarServiceCallback?.onCarEndServiceFailed(code, msg)
                     }
                 })
         } else {
             //暂停接单状态下,去接单
+            DebugView.printInfoMsg("[开始接单] 准备发送请求")
             TaxiTaskWithOrderServiceManager.startService(mContext,
                 CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().latitude,
                 CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().longitude,
                 object : OchCommonServiceCallback<StartServiceRespBean> {
                     override fun onSuccess(data: StartServiceRespBean?) {
                         if (data == null) return
+                        DebugView.printInfoMsg("[开始接单] 请求success")
                         d(TAG, "data.data=" + GsonUtil.jsonFromObject(data.data))
                         loginService?.queryLoginStatusByNet()
+                        mCurrentTaskWithOrder?.apply {
+                            if (endSite != null) {
+                                when {
+                                    currentStatus == TaskStatusEnum.CompleteTask.code && order != null -> return
+                                    currentStatus < TaskStatusEnum.CompleteTask.code -> return
+                                }
+                            }
+                        }
                         mDriveToNearestStationTask = data.data
                         mTaxiCarServiceCallback?.onCarStartServiceSuccess(
                             mDriveToNearestStationTask,
@@ -959,10 +1027,12 @@ object TaxiTaskModel {
                     }
 
                     override fun onFail(code: Int, msg: String) {
+                        DebugView.printErrorMsg("[开始接单] 请求fail, code=$code, msg=$msg")
                         mTaxiCarServiceCallback?.onCarStartServiceFailed(code, msg)
                     }
 
                     override fun onError() {
+                        DebugView.printErrorMsg("[开始接单] 请求error")
                         mTaxiCarServiceCallback?.onCarStartServiceError()
                     }
                 })
@@ -981,12 +1051,14 @@ object TaxiTaskModel {
     fun startAutoPilot() {
         if (!checkCurrentTaskCondition()) {
             e(TAG, "no order or order is empty.")
+            DebugView.printErrorMsg("[启自驾] 当前订单不存在或异常！")
             ToastUtils.showShort("当前订单不存在或异常！")
             return
         }
 
         if (mCurrentTaskTrajectory == null) {
             e(TAG, "no order or order is empty.")
+            DebugView.printErrorMsg("[启自驾] 轨迹信息不存在！")
             ToastUtils.showShort("轨迹信息不存在！")
         }
 
@@ -997,6 +1069,7 @@ object TaxiTaskModel {
             && TextUtils.isEmpty(mCurrentTaskTrajectory!!.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")
             e(
                 TAG, "isPassStartAutopilotCommand = " +
                         FunctionBuildConfig.isPassStartAutopilotCommand
@@ -1014,6 +1087,7 @@ object TaxiTaskModel {
                 OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
                         ", 请稍候重试"
             )
+            DebugView.printErrorMsg("[启自驾] ${OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason}")
             TaxiAnalyticsManager.getInstance().triggerUnableStartAPReasonEvent(
                 mCurrentTaskWithOrder!!.startSite!!.siteName,
                 mCurrentTaskWithOrder!!.endSite!!.siteName,
@@ -1032,6 +1106,7 @@ object TaxiTaskModel {
             return
         }
         CallerAutoPilotControlManager.startAutoPilot(parameters)
+        DebugView.printInfoMsg("[启自驾] 调用成功")
         d(
             TAG, "start autopilot with parameter: %s",
             GsonUtil.jsonFromObject(parameters)
@@ -1099,6 +1174,7 @@ object TaxiTaskModel {
     fun cancelAutopilot() {
         try {
             CallerAutoPilotControlManager.cancelAutoPilot()
+            DebugView.printInfoMsg("[取消自驾] 调用成功")
             d(TAG, "结束自动驾驶")
         } catch (e: Exception) {
             e.printStackTrace()
@@ -1141,11 +1217,25 @@ object TaxiTaskModel {
             //3、刚过站且过站距离在15m内， 提交到站
             if (stationAngle > 90) {
                 i(TAG, "judgeEndStation() = 刚过站且在15m内")
+                DebugView.printInfoMsg(
+                    "[高德定位围栏] 触发围栏，任务类型：${
+                        TaskTypeEnum.valueOf(
+                            mCurrentTaskWithOrder?.taskType ?: 0
+                        )?.name
+                    }，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 刚过站且在15m内"
+                )
                 submitArriveSite(endSite.siteId, true)
-            }else{
+            } else {
                 // 4、 没有过站距离小于15m 速度小于0.5(根据M1来的模数 可能要调)
                 if (currentLocation.gnssSpeed < 0.5) {
                     i(TAG, "judgeEndStation() = 没有过站、速度基本为零且在15m内")
+                    DebugView.printInfoMsg(
+                        "[高德定位围栏] 触发围栏，任务类型：${
+                            TaskTypeEnum.valueOf(
+                                mCurrentTaskWithOrder?.taskType ?: 0
+                            )?.name
+                        }，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 没有过站、速度基本为零且在15m内"
+                    )
                     submitArriveSite(endSite.siteId, true)
                 }
             }
@@ -1209,6 +1299,7 @@ object TaxiTaskModel {
         )
         mCurrentTaskWithOrder = null
         mDriveToNearestStationTask = null
+        DebugView.printInfoMsg("[登出] 退出登陆")
     }
 
     //导航去订单终点目的地
@@ -1282,11 +1373,13 @@ object TaxiTaskModel {
             return
         }
         d(TAG, "AutopilotControlParameters is update.")
+        DebugView.printInfoMsg("[启自驾] updateAutopilotControlParameters调用成功")
         updateAutopilotControlParameters(parameters)
     }
 
     private fun clearAutopilotControlParameters() {
         d(TAG, "AutopilotControlParameters is clear.")
+        DebugView.printInfoMsg("[启自驾] clearAutopilotControlParameters调用成功")
         updateAutopilotControlParameters(null)
     }
 
@@ -1303,7 +1396,6 @@ object TaxiTaskModel {
             ToastUtils.showShort("无任务！")
             return
         }
-//        arriveSite(mCurrentTaskAndOrder?.endSite!!.siteId, true)
         autopilotArriveAtStation()
     }
 
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
index 23c3446931..0ce5fc4b14 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
@@ -13,6 +13,7 @@ import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean;
 import com.mogo.och.taxi.bean.TrajectoryListRespBean;
 import com.mogo.och.taxi.constant.TaskStatusEnum;
 import com.mogo.och.taxi.constant.TaxiUnmannedConst;
+import com.mogo.och.taxi.ui.debug.DebugView;
 import com.mogo.och.taxi.ui.task.TaxiTaskModel;
 
 import java.util.ArrayList;
@@ -163,7 +164,6 @@ public class TaxiTrajectoryManager {
             final List<TrajectoryListRespBean.Result> orderContrails = TaxiTaskModel.INSTANCE.getCurrentOrderTrajectoryList();
 
             if (orderDetail != null && orderContrails != null && orderContrails.size() != 0 ){
-
                 List<Long> lineIds = new ArrayList<>();
                 lineIds.addAll(Arrays.asList(orderDetail.getPlanningLines()));  // 接驾
                 lineIds.add(orderDetail.getOrderLine());//送驾
@@ -249,6 +249,7 @@ public class TaxiTrajectoryManager {
         if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
             return;
         }
+        DebugView.Companion.printInfoMsg("[下发轨迹] startTrajectoryReqLoop");
         CallerLogger.d(M_TAXI + TAG, "startTrajReqLoop()");
         setupAutoPilotLine();
         mSendReqDisposable = Observable.interval(TaxiUnmannedConst.LOOP_DELAY,
@@ -268,6 +269,7 @@ public class TaxiTrajectoryManager {
     }
 
     private void stopTrajReqLoop() {
+        DebugView.Companion.printInfoMsg("[下发轨迹] stopTrajectoryReqLoop");
         if (mSendReqDisposable != null) {
             CallerLogger.d(M_TAXI + TAG, "stopTrajReqLoop()");
             mSendReqDisposable.dispose();
@@ -278,13 +280,15 @@ public class TaxiTrajectoryManager {
 
     private void sendTrajectoryReq() {
         if (mAutoPilotLine != null) {
+            DebugView.Companion.printInfoMsg("[下发轨迹] sendTrajectoryDownloadReq, lindId=" + mAutoPilotLine.getLineId() + ", lineName=" + mAutoPilotLine.getLineName());
             CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine,COMMON_LOADING);
         }else {
             CallerLogger.e(M_TAXI + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
         }
 
         if (mPreAutoPilotLine != null){
-            CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mPreAutoPilotLine,PRE_LOADING);
+            DebugView.Companion.printInfoMsg("[下发轨迹] sendTrajectoryDownloadReq, lindId=" + mPreAutoPilotLine.getLineId() + ", lineName=" + mPreAutoPilotLine.getLineName());
+            CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mPreAutoPilotLine, PRE_LOADING);
         }else {
             CallerLogger.e(M_TAXI + TAG, "sendTrajectoryReq(): mPreAutoPilotLine is null!!!");
 
diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/task_pathway_point_bg.xml b/OCH/taxi/unmanned-driver/src/main/res/drawable/task_pathway_point_bg.xml
new file mode 100644
index 0000000000..b19de47c25
--- /dev/null
+++ b/OCH/taxi/unmanned-driver/src/main/res/drawable/task_pathway_point_bg.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid
+        android:color="#6E172B80"/>
+    <corners
+        android:radius="@dimen/dp_18"/>
+</shape>
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/taxi_debug_view_log_history_bg.xml b/OCH/taxi/unmanned-driver/src/main/res/drawable/taxi_debug_view_log_history_bg.xml
new file mode 100644
index 0000000000..3911b44185
--- /dev/null
+++ b/OCH/taxi/unmanned-driver/src/main/res/drawable/taxi_debug_view_log_history_bg.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <corners android:radius="8dp" />
+    <stroke
+        android:width="@dimen/dp_2"
+        android:color="@color/background_verbose" />
+</shape>
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/task_fragment_current.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/task_fragment_current.xml
index 80094058e0..2d417d7e9e 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/task_fragment_current.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/task_fragment_current.xml
@@ -59,6 +59,24 @@
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_28"
         android:text="183XXXX5400 | -人"/>
+        
+        
+        <androidx.appcompat.widget.AppCompatTextView
+            android:id="@+id/pathwayPoint"
+            android:layout_width="@dimen/dp_478"
+            android:layout_height="@dimen/dp_68"
+            android:layout_marginTop="@dimen/dp_30"
+            app:layout_goneMarginTop="@dimen/dp_40"
+            android:maxLines="1"
+            android:text="途径: "
+            android:textSize="@dimen/dp_32"
+            android:textColor="@color/station_tag_color"
+            android:gravity="center_vertical"
+            android:paddingLeft="@dimen/dp_36"
+            android:visibility="gone"
+            android:background="@drawable/task_pathway_point_bg"
+            app:layout_constraintTop_toBottomOf="@+id/orderPhoneAndNum"
+            app:layout_constraintLeft_toLeftOf="@+id/taskStatus"/>
 
     <androidx.appcompat.widget.AppCompatTextView
         android:id="@+id/startStationTag"
@@ -66,12 +84,12 @@
         android:layout_height="wrap_content"
         android:text="上车:"
         android:textSize="@dimen/dp_32"
-        app:layout_goneMarginTop="@dimen/dp_104"
-        android:layout_marginTop="@dimen/dp_52"
+        app:layout_goneMarginTop="@dimen/dp_68"
+        android:layout_marginTop="@dimen/dp_30"
         android:layout_marginStart="@dimen/dp_78"
         android:textColor="@color/station_tag_color"
         app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toBottomOf="@+id/orderPhoneAndNum"/>
+        app:layout_constraintTop_toBottomOf="@+id/pathwayPoint"/>
     
     <com.mogo.och.common.module.wigets.MarqueeTextView
         android:id="@+id/startStationName"
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
index cf3b2468bc..024e110d95 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
@@ -5,157 +5,193 @@
     android:layout_height="wrap_content"
     android:orientation="vertical">
 
-    <TextView
-        android:id="@+id/currentDataTimestamps"
+    <RelativeLayout
         android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
+        android:layout_height="wrap_content">
+
+        <LinearLayout
+            android:id="@+id/btnContainer"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentEnd="true"
+            android:gravity="right"
+            android:orientation="vertical">
+
+            <Button
+                android:id="@+id/test_bar_to_virtual"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock到达标定站点"
+                android:textSize="@dimen/dp_24" />
+
+            <Button
+                android:id="@+id/test_bar_start_service_confirm"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock开启服务"
+                android:textSize="@dimen/dp_24" />
+
+            <Button
+                android:id="@+id/test_bar_on_the_way_to_end"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock开启自动驾驶"
+                android:textSize="@dimen/dp_24" />
+
+            <Button
+                android:id="@+id/test_bar_to_end"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock到达站点"
+                android:textSize="@dimen/dp_24" />
+
+            <Button
+                android:id="@+id/test_bar_route"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock模拟轨迹"
+                android:textSize="12sp" />
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentStart="true"
+            android:layout_toLeftOf="@id/btnContainer"
+            android:orientation="vertical">
+
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="@dimen/dp_10"
+                android:text="车辆当前任务&amp;订单信息"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentDataTimestamps"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentCarStatus"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentTaskType"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentStatus"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentLineId"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/taskStartSite"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/taskEndSite"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentOrder"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderNo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderStatus"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderStartSiteInfo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderEndSiteInfo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderPreLoadLines"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentOrderTrajectoryInfo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentOrderStopInfo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+        </LinearLayout>
+    </RelativeLayout>
 
     <TextView
-        android:id="@+id/currentCarStatus"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentTaskType"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentStatus"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentLineId"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/taskStartSite"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/taskEndSite"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentOrder"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderNo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderStatus"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderStartSiteInfo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderEndSiteInfo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderPreLoadLines"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentOrderTrajectoryInfo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentOrderStopInfo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <LinearLayout
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginTop="@dimen/dp_10"
-        android:orientation="horizontal">
+        android:text="无人化运营流程关键节点日志（司机端）"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/dp_24" />
 
-        <Button
-            android:id="@+id/test_bar_to_virtual"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock到达标定站点"
-            android:textSize="@dimen/dp_24" />
-
-        <Button
-            android:id="@+id/test_bar_start_service_confirm"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock开启服务"
-            android:textSize="@dimen/dp_24" />
-
-        <Button
-            android:id="@+id/test_bar_on_the_way_to_end"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock开启自动驾驶"
-            android:textSize="@dimen/dp_24" />
-    </LinearLayout>
-
-    <LinearLayout
-        android:layout_width="wrap_content"
+    <TextView
+        android:id="@+id/debugLogHistoryTextView"
+        android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/dp_10"
-        android:orientation="horizontal">
-
-        <Button
-            android:id="@+id/test_bar_to_end"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock到达站点"
-            android:textSize="@dimen/dp_24" />
-
-        <Button
-            android:id="@+id/test_bar_route"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock模拟轨迹"
-            android:textSize="12sp" />
-    </LinearLayout>
+        android:background="@drawable/taxi_debug_view_log_history_bg"
+        android:fadeScrollbars="false"
+        android:maxLines="15"
+        android:minLines="15"
+        android:scrollbars="vertical"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/dp_24" />
 </LinearLayout>
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_no_data_common_view.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_no_data_common_view.xml
index 908b36193b..7ec42fc051 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_no_data_common_view.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_no_data_common_view.xml
@@ -25,4 +25,16 @@
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toBottomOf="@+id/no_order_data_iv"
         android:text="暂无服务订单"/>
+
+    <TextView
+        android:id="@+id/prepareTaskCountdownTv"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="#91A1EA"
+        android:textSize="@dimen/dp_30"
+        android:layout_marginTop="50dp"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        android:visibility="gone"
+        app:layout_constraintTop_toBottomOf="@+id/noOrderDataTv" />
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_panel.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_panel.xml
index 702787973d..8805c5e8cd 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_panel.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_panel.xml
@@ -17,7 +17,7 @@
 
     <com.mogo.och.taxi.ui.debug.DebugView
         android:id="@+id/orderDebugView"
-        android:layout_width="wrap_content"
+        android:layout_width="@dimen/taxi_debug_view_width"
         android:layout_height="wrap_content"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent" />
diff --git a/OCH/taxi/unmanned-driver/src/main/res/values/dimens.xml b/OCH/taxi/unmanned-driver/src/main/res/values/dimens.xml
index 089ad7c16f..fef0af945b 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/values/dimens.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/values/dimens.xml
@@ -119,4 +119,6 @@
     <dimen name="taxi_traffic_light_time_size">60dp</dimen>
 
     <dimen name="taxi_passenger_txt_size">34dp</dimen>
+
+    <dimen name="taxi_debug_view_width">1000dp</dimen>
 </resources>
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/constant/TaxiPassengerConst.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/constant/TaxiPassengerConst.kt
index 4a12e389ae..eeccf6dc44 100644
--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/constant/TaxiPassengerConst.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/constant/TaxiPassengerConst.kt
@@ -43,5 +43,11 @@ class TaxiPassengerConst {
         const val TaskType_VIRTUAL = 1 // 虚拟任务
         const val TaskType_DRIVE_TO_START = 2 // 接驾任务
         const val TaskType_DRIVE_TO_END = 3 //送驾任务
+
+        //任务状态
+        const val TaskStatus_None = 0 //空闲
+        const val TaskStatus_GetTask = 1 //获取任务
+        const val TaskStatus_StartTask = 2 //开始任务
+        const val TaskStatus_CompleteTask = 3 //到达目的地
     }
 }
\ No newline at end of file
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 15655bb16e..0f953397ee 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
@@ -7,12 +7,11 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 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.biz.network.OchCommonServiceCallback
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerBaseRespBean
 import com.mogo.och.taxi.passenger.constant.TaxiPassengerConst
@@ -46,12 +45,13 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
         if (TaxiPassengerModel.currentOCHOrder!!.orderStatus == TaxiPassengerOrderStatusEnum.UserArriveAtStart.code) {
             startAutoPilotServiceByPassenger()
         }
-        if (CallerAutoPilotStatusListenerManager.getState()
-            == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
-        ) {
-            ToastUtils.showShort("自驾中、请勿重复启动")
-            return
-        }
+        // 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
+//        ) {
+//            ToastUtils.showShort("自驾中、请勿重复启动")
+//            return
+//        }
         if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
             ToastUtils.showLong(
                 OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
index 31c9433bf2..e5d04039b0 100644
--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
@@ -21,7 +21,7 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback
 import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.distancemamager.IDistanceListener
 import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.manager.loopmanager.BizLoopManager
@@ -34,7 +34,6 @@ import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrderQueryRespBean
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrdersInServiceQueryRespBean
 import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerOrderStatusCallback
 import com.mogo.och.taxi.passenger.constant.TaxiPassengerConst
-import com.mogo.och.taxi.passenger.constant.TaxiPassengerConst.Companion.TaskType_DRIVE_TO_END
 import com.mogo.och.taxi.passenger.constant.TaxiPassengerConst.Companion.TaskType_NONE
 import com.mogo.och.taxi.passenger.constant.TaxiPassengerConst.Companion.TaskType_VIRTUAL
 import com.mogo.och.taxi.passenger.constant.TaxiPassengerOrderStatusEnum
@@ -171,9 +170,15 @@ object TaxiPassengerModel {
                         )
                         // 如果上一个是 接驾或送驾任务 下一个是演练任务，需要reset页面状态
                         if (currentOCHOrder != null) {
-                            currentOCHOrder?.orderStatus = TaxiPassengerOrderStatusEnum.None.code
-                            orderStatusChange()
                             currentOCHOrder = null
+                            currentLineId = null
+                            currentTrajectoryInfo = null
+                            orderStatusChange()
+                        } else {
+                            // 当前一直是演练，到终点后清除轨迹信息
+                            if (data.data.currentStatus == TaxiPassengerConst.TaskStatus_CompleteTask) {
+                                orderStatusChange()
+                            }
                         }
                         return
                     }
@@ -278,6 +283,7 @@ object TaxiPassengerModel {
     //监听网络变化，避免启动机器时无网导致无法更新订单信息
     private val distanceListener: IDistanceListener = object : IDistanceListener {
         var allDistance = 0f
+
         override fun stationDistanceCallback(stationDistance: Float) {
             allDistance = stationDistance
         }
diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.kt
index 185ba822d9..c2e5e832e6 100644
--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.kt
@@ -7,12 +7,10 @@ import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import com.mogo.och.common.module.manager.OCHAdasAbilityManager
-import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrderQueryRespBean
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrdersInServiceQueryRespBean
 import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerOrderStatusCallback
 import com.mogo.och.taxi.passenger.constant.TaxiPassengerOrderStatusEnum
-import com.mogo.och.taxi.passenger.model.AutopilotManager
 import com.mogo.och.taxi.passenger.model.TaxiPassengerModel
 import com.mogo.och.taxi.passenger.ui.TaxiPassengerBaseFragment
 
@@ -50,9 +48,7 @@ class BaseTaxiPassengerPresenter(view: TaxiPassengerBaseFragment?) :
     }
 
     override fun onCurrentOrderStatusChanged(order: TaxiPassengerOrdersInServiceQueryRespBean.OrderBean?) {
-        order?.let {
-            updateOrderView(order)
-        }
+        updateOrderView(order)
     }
 
     override fun onCurrentOrderDistToEndChanged(
@@ -63,73 +59,72 @@ class BaseTaxiPassengerPresenter(view: TaxiPassengerBaseFragment?) :
     }
 
     private fun updateOrderView(order: TaxiPassengerOrdersInServiceQueryRespBean.OrderBean?) {
-        order?.let {
-            setItineraryVisibility()
-            when (TaxiPassengerModel.curOrderStatus) {
-                TaxiPassengerOrderStatusEnum.OnTheWayToStart -> {
-                    // 10 接驾中
-                    mView?.showOrHideStartAutopilotView(isShow = false)
-                    mView?.showOrHidePressengerCheckPager(isShow = false)
-                    mView?.showOrHideArrivedEndLayout(isShow = false)
-                    overMapViewClear()
-                }
-
-                TaxiPassengerOrderStatusEnum.ArriveAtStart -> {
-                    // 20 司机到达上车点
-                    mView?.showOrHideArrivedEndLayout(isShow = false)
-                    mView?.showOrHidePressengerCheckPager(true)
-                    mView?.showOrHideStartAutopilotView(isShow = false)
-                    overMapViewClear()
-                }
-
-                TaxiPassengerOrderStatusEnum.UserArriveAtStart -> {
-                    // 30  乘客到达上车点
-                    mView?.showOrHideArrivedEndLayout(isShow = false)
-                    mView?.showOrHidePressengerCheckPager(isShow = false)
-                    mView?.showOrHideStartAutopilotView(isShow = true)
-                    overMapViewClear()
-                }
-
-                TaxiPassengerOrderStatusEnum.OnTheWayToEnd -> {
-                    // 服务中（去往目的地）
-                    mView?.showOrHideArrivedEndLayout(isShow = false)
-                    mView?.showOrHidePressengerCheckPager(isShow = false)
-                    mView?.showOrHideStartAutopilotView(isShow = false)
-                    overMapViewShow()
-                }
-
-                TaxiPassengerOrderStatusEnum.ArriveAtEnd -> {
-                    // 50 到达终点 乘客可以评价
-                    mView?.showOrHideArrivedEndLayout(true)
-                    mView?.showOrHidePressengerCheckPager(isShow = false)
-                    mView?.showOrHideStartAutopilotView(isShow = false)
-                    overMapViewClear()
-                }
-                TaxiPassengerOrderStatusEnum.JourneyCompleted -> {
-                    // 60 行程完成
-                    mView?.showOrHideStartAutopilotView(isShow = false)
-                    mView?.showOrHidePressengerCheckPager(isShow = false)
-                    mView?.showOrHideArrivedEndLayout(false)
-                    overMapViewClear()
-                }
-
-                TaxiPassengerOrderStatusEnum.Cancel -> {
-                    // 70 取消订单
-                    mView?.showOrHideStartAutopilotView(isShow = false)
-                    mView?.showOrHidePressengerCheckPager(isShow = false)
-                    mView?.showOrHideArrivedEndLayout(isShow = false)
-                    overMapViewClear()
-                }
-
-                TaxiPassengerOrderStatusEnum.None -> {
-                    // 00 默认状态，在不同任务之间切换时使用
-                    mView?.showOrHideStartAutopilotView(isShow = false)
-                    mView?.showOrHidePressengerCheckPager(isShow = false)
-                    mView?.showOrHideArrivedEndLayout(isShow = false)
-                    overMapViewClear()
-                }
-                else -> {}
+        setItineraryVisibility()
+        when (TaxiPassengerModel.curOrderStatus) {
+            TaxiPassengerOrderStatusEnum.OnTheWayToStart -> {
+                // 10 接驾中
+                mView?.showOrHideStartAutopilotView(isShow = false)
+                mView?.showOrHidePressengerCheckPager(isShow = false)
+                mView?.showOrHideArrivedEndLayout(isShow = false)
+                overMapViewClear()
             }
+
+            TaxiPassengerOrderStatusEnum.ArriveAtStart -> {
+                // 20 司机到达上车点
+                mView?.showOrHideArrivedEndLayout(isShow = false)
+                mView?.showOrHidePressengerCheckPager(true)
+                mView?.showOrHideStartAutopilotView(isShow = false)
+                overMapViewClear()
+            }
+
+            TaxiPassengerOrderStatusEnum.UserArriveAtStart -> {
+                // 30  乘客到达上车点
+                mView?.showOrHideArrivedEndLayout(isShow = false)
+                mView?.showOrHidePressengerCheckPager(isShow = false)
+                mView?.showOrHideStartAutopilotView(isShow = true)
+                overMapViewClear()
+            }
+
+            TaxiPassengerOrderStatusEnum.OnTheWayToEnd -> {
+                // 服务中（去往目的地）
+                mView?.showOrHideArrivedEndLayout(isShow = false)
+                mView?.showOrHidePressengerCheckPager(isShow = false)
+                mView?.showOrHideStartAutopilotView(isShow = false)
+                overMapViewShow()
+            }
+
+            TaxiPassengerOrderStatusEnum.ArriveAtEnd -> {
+                // 50 到达终点 乘客可以评价
+                mView?.showOrHideArrivedEndLayout(true)
+                mView?.showOrHidePressengerCheckPager(isShow = false)
+                mView?.showOrHideStartAutopilotView(isShow = false)
+                overMapViewClear()
+            }
+
+            TaxiPassengerOrderStatusEnum.JourneyCompleted -> {
+                // 60 行程完成
+                mView?.showOrHideStartAutopilotView(isShow = false)
+                mView?.showOrHidePressengerCheckPager(isShow = false)
+                mView?.showOrHideArrivedEndLayout(false)
+                overMapViewClear()
+            }
+
+            TaxiPassengerOrderStatusEnum.Cancel -> {
+                // 70 取消订单
+                mView?.showOrHideStartAutopilotView(isShow = false)
+                mView?.showOrHidePressengerCheckPager(isShow = false)
+                mView?.showOrHideArrivedEndLayout(isShow = false)
+                overMapViewClear()
+            }
+
+            TaxiPassengerOrderStatusEnum.None -> {
+                // 00 默认状态，在不同任务之间切换时使用
+                mView?.showOrHideStartAutopilotView(isShow = false)
+                mView?.showOrHidePressengerCheckPager(isShow = false)
+                mView?.showOrHideArrivedEndLayout(isShow = false)
+                overMapViewClear()
+            }
+            else -> {}
         }
     }
 
diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/check/ChekViewModel.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/check/ChekViewModel.kt
index 8ec10a1f1b..a7ca88b125 100644
--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/check/ChekViewModel.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/check/ChekViewModel.kt
@@ -34,12 +34,9 @@ class ChekViewModel : ViewModel(), IOCHTaxiPassengerOrderStatusCallback {
 
     override fun onCurrentOrderStatusChanged(order: TaxiPassengerOrdersInServiceQueryRespBean.OrderBean?) {
         super.onCurrentOrderStatusChanged(order)
-        order?.let {
-            if(it.orderStatus != TaxiPassengerOrderStatusEnum.UserArriveAtStart.code){
-                this.viewCallback?.dismissWindow()
-            }
+        if(order == null || order.orderStatus != TaxiPassengerOrderStatusEnum.UserArriveAtStart.code) {
+            this.viewCallback?.dismissWindow()
         }
-
     }
 
     override fun onCleared() {
diff --git a/config.gradle b/config.gradle
index 605fd0bba3..407002414d 100644
--- a/config.gradle
+++ b/config.gradle
@@ -215,7 +215,7 @@ ext {
             btrace                       : "com.bytedance.btrace:rhea-core:2.0.0",
 
             mofang_runtime               : "com.mogo.eagle.core.mofang:runtime:2.0.6",
-            log_runtime                  : "com.mogo.eagle.core.log.record:runtime:1.0.12",
+            log_runtime                  : "com.mogo.eagle.core.log.record:runtime:1.0.15",
 
             // 安全证书
             passport_secret              : "com.zhidaoauto:sdk-java:1.0.5-SNAPSHOT",
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
index cc0a7dabf4..c7e3d6b130 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -7,6 +7,7 @@ import bag_manager.BagManagerOuterClass
 import chassis.SpecialVehicleTaskCmdOuterClass
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
 import com.mogo.eagle.core.data.autopilot.toRouteInfo
@@ -96,14 +97,15 @@ class MoGoAutopilotControlProvider :
     override fun init(context: Context) {
         CallerLogger.i("$M_D_C$TAG", "初始化工控机连接……")
         mContext = context
-        // 初始化ADAS 域控制器
-        CupidLogUtils.setEnableLog(false)
-        msgHandler = TeleMsgHandler()
-        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
-            // 注册地图采集功能
-            CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
+        runCatching {
+            // 初始化ADAS 域控制器
+            CupidLogUtils.setEnableLog(false)
+            msgHandler = TeleMsgHandler()
+            if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
+                // 注册地图采集功能
+                CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
 
-            // 配置默认关闭的连接topic
+                // 配置默认关闭的连接topic
 //            val messageTypes: MutableSet<MessageType> = HashSet()
 //            messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
 //            val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
@@ -111,125 +113,131 @@ class MoGoAutopilotControlProvider :
 //                    .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
 //                    .setMessageTypes(messageTypes).build()
 
-            // "192.168.1.102"
-            val options = AdasOptions.Builder()
-                .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
-                .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
-                .setClient(false)
-                .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
+                // "192.168.1.102"
+                val options = AdasOptions.Builder()
+                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
+                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
+                    .setClient(false)
+                    .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
 //                    .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
-                .build()
+                    .build()
 
-            AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
-            //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
-            // 监听ADAS-SDK获取到的工控机数据
-            AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
-            NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :
-                NettyServerListener<MogoProtocolMsg> {
-                override fun onMessageResponseServer(msg: MogoProtocolMsg?, channel: Channel?) {
-                    msgHandler.handleMsgFromClient(msg, channel)
-                }
-
-                override fun onStartServer() {
-                    ToastUtils.showShort("司机端服务启动成功!")
-                    if (timer == null) {
-                        timer = Timer()
+                AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
+                //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
+                // 监听ADAS-SDK获取到的工控机数据
+                AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
+                NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :
+                    NettyServerListener<MogoProtocolMsg> {
+                    override fun onMessageResponseServer(msg: MogoProtocolMsg?, channel: Channel?) {
+                        msgHandler.handleMsgFromClient(msg, channel)
                     }
-                    // 10s同步一次数据到乘客屏
-                    timer!!.schedule(object : TimerTask() {
-                        override fun run() {
-                            // 同步是否开启美化模式
-                            setDemoMode(FunctionBuildConfig.isDemoMode)
-                            setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
-                            msgHandler.synMsgToAllClients()
+
+                    override fun onStartServer() {
+                        ToastUtils.showShort("司机端服务启动成功!")
+                        if (timer == null) {
+                            timer = Timer()
                         }
-                    }, 1000, 10000)
-                    invokeNettyConnResult("司机端服务启动成功!")
-                    CallerTelematicStatusListenerManager.invokeServerStatusChanged(true)
-                }
-
-                override fun onStopServer() {
-                    ToastUtils.showLong("司机端服务停止!")
-                    timer?.cancel()
-                    timer = null
-                    invokeNettyConnResult("司机端服务停止!")
-                    CallerTelematicStatusListenerManager.invokeServerStatusChanged(false)
-                }
-
-                override fun onChannelConnect(channel: Channel?) {
-                    msgHandler.handleClientConn2Server(channel)
-                }
-
-                override fun onChannelDisConnect(channel: Channel?) {
-                    CallerLogger.d("$M_D_C$TAG", "onChannelDisConnect")
-                }
-
-                override fun onReceiveClientSign(channel: Channel?, sn: String?) {
-                    sn?.let {
-                        invokeNettyConnResult("连接成功的乘客屏sn为:$it")
+                        // 10s同步一次数据到乘客屏
+                        timer!!.schedule(object : TimerTask() {
+                            override fun run() {
+                                // 同步是否开启美化模式
+                                setDemoMode(FunctionBuildConfig.isDemoMode)
+                                setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
+                                msgHandler.synMsgToAllClients()
+                            }
+                        }, 1000, 10000)
+                        invokeNettyConnResult("司机端服务启动成功!")
+                        CallerTelematicStatusListenerManager.invokeServerStatusChanged(true)
                     }
-                }
-            }, MoGoAiCloudClientConfig.getInstance().sn)
-        } else {
-            NSDNettyManager.getInstance()
-                .searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn,
-                    AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode),
-                    object : NettyClientListener<MogoProtocolMsg> {
-                        override fun onMessageResponseClient(
-                            msg: MogoProtocolMsg?,
-                            sign: String?,
-                            channel: Channel
-                        ) {
-                            // 乘客端收到adas数据直接解析，后续分发解析后的数据流程同司机端
-                            msgHandler.handleMsgFromServer(msg, channel)
-                        }
 
-                        override fun onClientStatusConnectChanged(
-                            statusCode: Int,
-                            sign: String?,
-                            channel: Channel
-                        ) {
-                            msgHandler.handleClientConnStatus(statusCode, sign, channel)
-                        }
-                    })
-        }
-        msgHandler.setListener(object : EventListener {
-            override fun connectDevice(isSupportMulti: Boolean) {
-                if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-                    if (!isInit) {
-                        isInit = true
-                        // 转发工控机数据给乘客屏
-                        listenDeviceData()
+                    override fun onStopServer() {
+                        ToastUtils.showLong("司机端服务停止!")
+                        timer?.cancel()
+                        timer = null
+                        invokeNettyConnResult("司机端服务停止!")
+                        CallerTelematicStatusListenerManager.invokeServerStatusChanged(false)
                     }
-                } else {
-                    if (!isInit) {
-                        isInit = true
-                        UiThreadHandler.post {
-                            if (isSupportMulti) {
-                                // 直连工控机
-                                directConnect()
-                            } else {
-                                val options = AdasOptions
-                                    .Builder()
-                                    .setClient(true)
-                                    .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
-                                    .build()
-                                AdasManager.getInstance()
-                                    .create(options, MoGoAdasMsgConnectStatusListenerImpl())
-                                // 监听ADAS-SDK获取到的工控机数据
-                                AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
-                                // 接收司机屏发过来的感知、定位等数据
-                                listenDeviceData()
+
+                    override fun onChannelConnect(channel: Channel?) {
+                        msgHandler.handleClientConn2Server(channel)
+                    }
+
+                    override fun onChannelDisConnect(channel: Channel?) {
+                        CallerLogger.d("$M_D_C$TAG", "onChannelDisConnect")
+                    }
+
+                    override fun onReceiveClientSign(channel: Channel?, sn: String?) {
+                        sn?.let {
+                            invokeNettyConnResult("连接成功的乘客屏sn为:$it")
+                        }
+                    }
+                }, MoGoAiCloudClientConfig.getInstance().sn)
+            } else {
+                NSDNettyManager.getInstance()
+                    .searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn,
+                        AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode),
+                        object : NettyClientListener<MogoProtocolMsg> {
+                            override fun onMessageResponseClient(
+                                msg: MogoProtocolMsg?,
+                                sign: String?,
+                                channel: Channel
+                            ) {
+                                // 乘客端收到adas数据直接解析，后续分发解析后的数据流程同司机端
+                                msgHandler.handleMsgFromServer(msg, channel)
+                            }
+
+                            override fun onClientStatusConnectChanged(
+                                statusCode: Int,
+                                sign: String?,
+                                channel: Channel
+                            ) {
+                                msgHandler.handleClientConnStatus(statusCode, sign, channel)
+                            }
+                        })
+            }
+            msgHandler.setListener(object : EventListener {
+                override fun connectDevice(isSupportMulti: Boolean) {
+                    if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+                        if (!isInit) {
+                            isInit = true
+                            // 转发工控机数据给乘客屏
+                            listenDeviceData()
+                        }
+                    } else {
+                        if (!isInit) {
+                            isInit = true
+                            UiThreadHandler.post {
+                                if (isSupportMulti) {
+                                    // 直连工控机
+                                    directConnect()
+                                } else {
+                                    val options = AdasOptions
+                                        .Builder()
+                                        .setClient(true)
+                                        .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
+                                        .build()
+                                    AdasManager.getInstance()
+                                        .create(options, MoGoAdasMsgConnectStatusListenerImpl())
+                                    // 监听ADAS-SDK获取到的工控机数据
+                                    AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
+                                    // 接收司机屏发过来的感知、定位等数据
+                                    listenDeviceData()
+                                }
                             }
                         }
                     }
                 }
+            })
+            CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
+            CallerLogger.i("$M_D_C$TAG", "initServer……")
+            // 同步数据给工控机的服务
+            AsyncDataToAutopilotServer.INSTANCE.initServer()
+        }.onFailure { throwable ->
+            if (DebugConfig.isDebug()) {
+                ToastUtils.showLong("AutoPilot出现异常，请立即处理!")
             }
-        })
-        CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
-        CallerLogger.i("$M_D_C$TAG", "initServer……")
-        // 同步数据给工控机的服务
-        AsyncDataToAutopilotServer.INSTANCE.initServer()
+            throwable.printStackTrace()
+        }
     }
 
     private fun directConnect() {
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
index ceff1aad76..d788e040e9 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -43,10 +43,6 @@ class MoGoAdasMsgConnectStatusListenerImpl :
 
     override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
         CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
-        CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(
-            ipcConnectionStatus,
-            reason
-        )
         AppConfigInfo.connectStatusDescribe = reason
         when (ipcConnectionStatus) {
             Constants.IPC_CONNECTION_STATUS.CONNECTED -> {
@@ -103,6 +99,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
         CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = ipcConnectionStatus
         CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe = reason
         CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
+        CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(ipcConnectionStatus, reason)
     }
 
     override fun onCompatibility(versionCompatibility: VersionCompatibility?) {
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
index fedd73722e..89ea5f8921 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
@@ -19,7 +19,6 @@ import kotlinx.coroutines.flow.*
 import mogo.telematics.pad.MessagePad.Header
 import mogo.telematics.pad.MessagePad.SetParamReq
 import java.util.concurrent.atomic.AtomicInteger
-import kotlin.concurrent.*
 
 internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener {
 
@@ -69,7 +68,9 @@ internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoBackCam
     private fun sendReqForParamPeriod() {
         scope.launch {
             while (targetX.get() == 0 || targetY.get() == 0) {
-                CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM)
+                if(CallerAutoPilotStatusListenerManager.isConnect()){
+                    CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM)
+                }
                 delay(2000)
             }
         }.also {
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
index e6b92611d7..ed04aff1cb 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -40,7 +40,7 @@ internal class CanImpl(ctx: Context) :
     private val state: AtomicInteger by lazy { AtomicInteger(Int.MIN_VALUE) }
 
     override fun onCreate() {
-        send(CanStatus(CallerAutoPilotControlManager.isConnected()))
+        send(CanStatus(CallerAutoPilotStatusListenerManager.isConnect()))
 
         CallerChassisAccStateListenerManager.addListener(TAG, this)
         CallerChassisBrakeStateListenerManager.addListener(TAG, this)
@@ -58,7 +58,7 @@ internal class CanImpl(ctx: Context) :
 
     private fun isCanEnabled(): Boolean {
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
-        return CallerAutoPilotControlManager.isConnected() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
+        return CallerAutoPilotStatusListenerManager.isConnect() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
     }
 
 
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt
index bf80c144da..a113c357cf 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt
@@ -28,7 +28,7 @@ internal class IpcImpl(ctx: Context): IFlow<IpcStatus>(ctx), IMoGoAutopilotStatu
     }
 
     private fun checkAndSend() {
-        send(IpcStatus(CallerAutoPilotControlManager.isConnected()))
+        send(IpcStatus(CallerAutoPilotStatusListenerManager.isConnect()))
     }
 
     override fun onDestroy() {
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 a25e636ae8..93d36a30de 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
@@ -43,7 +43,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
         CallerLogger.d("$M_DEVA$TAG", "-- onCreate --")
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
-        if (CallerAutoPilotControlManager.isConnected()) {
+        if (CallerAutoPilotStatusListenerManager.isConnect()) {
             check()
         }
     }
@@ -86,13 +86,13 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
 
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotControlManager.isConnected()) {
+        if (!CallerAutoPilotStatusListenerManager.isConnect()) {
             CallerLogger.d("$M_DEVA$TAG", "工控机断开了....")
             healthInfo.set(null)
             send(RTKStatus("", -1))
         }
 
-        if (CallerAutoPilotControlManager.isConnected() && check == null && !isOldVersion.get()) {
+        if (CallerAutoPilotStatusListenerManager.isConnect() && check == null && !isOldVersion.get()) {
              check()
         }
     }
@@ -114,7 +114,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
     private fun isRTKEnabled(): Boolean {
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
         val gnssInfo = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-        return CallerAutoPilotControlManager.isConnected() && (
+        return CallerAutoPilotStatusListenerManager.isConnect() && (
                 code != "EHW_RTK" &&
                         code != "EHW_GNSS" &&
                         code != "ESYS_RTK_STATUS_FAULT" &&
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
index f04a3971ec..0746962d6e 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
@@ -58,7 +58,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
         super.onAutopilotIpcConnectStatusChanged(status, reason)
         try {
             if (ipcConnectStatus.get() != status) {
-                if (!CallerAutoPilotControlManager.isConnected()) {
+                if (!CallerAutoPilotStatusListenerManager.isConnect()) {
                     old = UNKNOWN
                     send(TracingStatus(UNKNOWN))
                 }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
index 91d6115301..b0376af234 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
@@ -15,7 +15,7 @@ internal class StatusModel : ViewModel() {
         const val TAG = "StatusModel"
         val DEFAULTS = Pair(null, ArrayList<Status>().also {
             it += OverViewStatus()
-            it += IpcStatus(CallerAutoPilotControlManager.isConnected())
+            it += IpcStatus(CallerAutoPilotStatusListenerManager.isConnect())
             it += CanStatus(false)
 //            it += TracingStatus(UNKNOWN)
             it += RTKStatus("", -1)
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
index af79a7a9aa..34d7806abe 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
@@ -186,7 +186,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
             svLayout.post {
                 svLayout.fullScroll(View.FOCUS_DOWN)
             }
-            if (!CallerAutoPilotStatusListenerManager.getConnectStates()) {
+            if (!CallerAutoPilotStatusListenerManager.isConnect()) {
                 ToastUtils.showShort("设置车速失败，请启动域控制器")
                 keyBoardUtil?.hideKeyboard()
                 return@setOnTouchListener true
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt
index 664e86855a..b5a9855c83 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt
@@ -68,7 +68,7 @@ open class BlueToothView: LinearLayout, IMoGoMoFangProvider.OnMoFangStatusListen
                     it.setTextColor(Color.RED)
                     ivMoFangStatus?.drawable?.setTint(Color.RED)
                     postDelayed({
-                        ToastUtils.showShort("当前蘑方处理低电状态, 请及时充电")
+                        ToastUtils.showShort("蘑方处于低电状态, 请及时充电")
                     }, 5000)
                 }
             } else {
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
index 445a3ad2d3..a491892928 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -122,12 +122,25 @@ object CallerAutoPilotControlManager {
     fun cancelAutoPilot() {
         // 司机屏才能取消自动驾驶
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            providerApi?.cancelAutoPilot()
-            // 更新记录在全局的控制参数
-            CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(null)
+            cancelAutoPilotInner()
         }
     }
 
+    /**
+     * 包车乘客屏 取消自驾(包车 乘客屏为中心)
+     */
+    fun cancelAutoPilot4Passenger(){
+        if (AppIdentityModeUtils.isCharterPassenger(FunctionBuildConfig.appIdentityMode)) {
+            cancelAutoPilotInner()
+        }
+    }
+
+    private fun cancelAutoPilotInner() {
+        providerApi?.cancelAutoPilot()
+        // 更新记录在全局的控制参数
+        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(null)
+    }
+
     /**
      * 开启域控制器录制bag包
      */
@@ -479,13 +492,6 @@ object CallerAutoPilotControlManager {
         providerApi?.setControlAutopilotCarAuto(isEnable)
     }
 
-    /**
-     * 车机与工控机是否连上了
-     */
-    fun isConnected(): Boolean {
-        return providerApi?.isConnected() ?: false
-    }
-
     /**
      *  查询工控机基础配置信息
      */
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
index c6eae4c451..70ef154e84 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -83,7 +83,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         return mAutopilotStatusInfo.dockVersion
     }
 
-    fun getConnectStates():Boolean{
+    fun isConnect():Boolean{
         return mAutopilotStatusInfo.connectStatus
     }
 
diff --git a/gradle.properties b/gradle.properties
index 98a46eff2b..fb6a5a8f96 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -58,7 +58,7 @@ bytex.ASM_API=ASM7
 
 ################  外部依赖引用 ################
 # loglib
-LOGLIB_VERSION=1.9.6
+LOGLIB_VERSION=1.9.12
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
 MOGO_NETWORK_VERSION=1.4.7.16
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
index da45eca7d8..6a5dfd35f4 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
@@ -139,6 +139,7 @@ public class AMapWrapper implements IMogoMap {
         }
         long time = markerOptionsArrayList.get(0).getTime();
         batchMarkerOptions.list = markerOptionsArrayList;
+//        batchMarkerOptions.averageFlag = 0;
         batchMarkerOptions.delayStrategy = false;
         batchMarkerOptions.ruleAngle = 8.0f;
         batchMarkerOptions.controlIcon = 1;