diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangCommandExecutor.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangCommandExecutor.kt
index 4176c72361..f34ccd15df 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangCommandExecutor.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangCommandExecutor.kt
@@ -245,12 +245,13 @@ internal class MoFangCommandExecutor {
                     linkedLog?.record(mapOf("执行:${System.currentTimeMillis()}" to "$message, $json"))
                     Log.d(TAG, "--- 启动自驾 ----入参:$json")
                     //清扫车有FSM模块，魔方启动自驾时需要将Source修改为魔方，以便telamatics做区分并在转发时增加flag标记
-                    if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
-                        CallerAutoPilotControlManager.startAutoPilotByMoFang(parameters)
-                    } else{
-                        CallerAutoPilotControlManager.startAutoPilot(parameters)
+                    if (CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
+                        if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
+                            CallerAutoPilotControlManager.startAutoPilotByMoFang(parameters)
+                        } else{
+                            CallerAutoPilotControlManager.startAutoPilot(parameters)
+                        }
                     }
-
                 } catch (t: Throwable) {
                     t.printStackTrace()
                     Log.e(TAG, "error: ${t.message}, msg-> $msg")
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt
index cbb0f6a161..c0d9c3edbc 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt
@@ -3,8 +3,10 @@ package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
 import android.content.Context
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
 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.utilcode.mogo.logger.Logger
+import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.MogoReport
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteComplete
@@ -24,11 +26,17 @@ internal class RouteDownloadImpl(ctx: Context) : IFlow<RouteDownloadStatus>(ctx)
         private const val TAG = "RouteDownloadImpl"
     }
 
-    @Volatile
-    private var toDownloadLineId: Long? = null
-
     private val extra by lazy { ConcurrentSkipListMap<Int, Any>() }
 
+    @Volatile
+    private var isTriggerDownloadAgain: Boolean = false
+
+    @Volatile
+    private var toDownloadLineInfo: AutoPilotLine? = null
+
+    @Volatile
+    private var isTriggerDownloadByMe = false
+
     override fun onCreate() {
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
@@ -42,27 +50,52 @@ internal class RouteDownloadImpl(ctx: Context) : IFlow<RouteDownloadStatus>(ctx)
         super.onAutopilotStatusResponse(state)
         Logger.d(TAG, "--- onAutopilotStatusResponse -- 1 --: $state")
         if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
-            val lineId = toDownloadLineId
-            Logger.d(TAG, "--- onAutopilotStatusResponse -- 2 --: $lineId")
-            if (lineId != null && lineId >= 0) {
+            val info = toDownloadLineInfo
+            Logger.d(TAG, "--- onAutopilotStatusResponse -- 2 --: $info")
+            if (info != null) {
                 extra.clear()
-                send(RouteDownloadStatus(lineId, RouteComplete))
-                toDownloadLineId = null
+                send(RouteDownloadStatus(info.lineId, RouteComplete))
+                toDownloadLineInfo = null
             }
         }
     }
 
+    override fun onAutopilotIpcConnectStatusChanged(
+        status: AdasConstants.IpcConnectionStatus,
+        reason: String?
+    ) {
+        super.onAutopilotIpcConnectStatusChanged(status, reason)
+        val info = toDownloadLineInfo
+        val isConnected = CallerAutoPilotStatusListenerManager.isConnect()
+        if (!isConnected && info != null && !isTriggerDownloadAgain) {
+            Logger.d(TAG, "工控机断开了，但是轨迹未下载完成, 等待重新连接后，再次发送轨迹下载请求...")
+            isTriggerDownloadAgain = true
+        }
+
+        if (isConnected && isTriggerDownloadAgain && info != null) {
+            Logger.d(TAG, "工控机连上了，重新发送下载请求, 用以更新下载状态...")
+            isTriggerDownloadAgain = false
+            isTriggerDownloadByMe = true
+            CallerAutoPilotControlManager.sendTrajectoryDownloadReq(info)
+        }
+    }
+
     override fun onAutopilotTrajectoryDownloadReq(autoPilotLine: AutoPilotLine, downloadType: Int) {
         super.onAutopilotTrajectoryDownloadReq(autoPilotLine, downloadType)
         Logger.d(TAG, "--- onAutopilotTrajectoryDownloadReq --: 1:$autoPilotLine, 2:$downloadType")
         val lineId = autoPilotLine.lineId
         if (downloadType == 0 && lineId >= 0) {
+            val info = autoPilotLine.deepCopy()
+            toDownloadLineInfo = info
             extra.clear()
-            extra[0] = lineId to System.currentTimeMillis()
-            toDownloadLineId = lineId
-            send(RouteDownloadStatus(lineId = lineId, state = RouteNone).also {
-                it.rawData = extra
-            })
+            extra[0] = info.lineId to info
+            if (!isTriggerDownloadByMe) {
+                send(RouteDownloadStatus(lineId = lineId, state = RouteNone).also {
+                    it.rawData = extra
+                })
+            } else {
+                isTriggerDownloadByMe = false
+            }
         }
     }
 
@@ -97,37 +130,40 @@ internal class RouteDownloadImpl(ctx: Context) : IFlow<RouteDownloadStatus>(ctx)
                 } catch (ignore: Exception) {
                 }
             }
-            extra[1] = lineId to "${System.currentTimeMillis()} => ($code,$toDownloadLineId)"
-            Logger.d(
-                TAG,
-                "--- onAutopilotGuardian -- 3 --:lineId => $toDownloadLineId, parse_line_id: $lineId"
-            )
-            if (toDownloadLineId != lineId) {
+            val info = toDownloadLineInfo
+            extra[1] = lineId to info
+            Logger.d(TAG, "--- onAutopilotGuardian -- 3 --:lineId => ${info?.lineId}, parse_line_id: $lineId")
+            if (info?.lineId != lineId) {
                 return
             }
-            Logger.d(
-                TAG,
-                "--- onAutopilotGuardian -- 4 --:line_id => $lineId, code: ${guardianInfo.code}"
-            )
+            Logger.d(TAG, "--- onAutopilotGuardian -- 4 --:line_id => $lineId, code: ${guardianInfo.code}")
             when (code) {
                 MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START -> { // 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
-                    extra[2] = lineId to System.currentTimeMillis()
+                    extra[2] = lineId to info
                     send(RouteDownloadStatus(lineId, RouteStart).also { it.rawData = extra })
                 }
 
+                MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING,
                 MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS -> { // 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
-                    extra[3] = lineId to System.currentTimeMillis()
+                    if (code == MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING) {
+                        extra[3] = lineId to info
+                    } else {
+                        extra[4] = lineId to info
+                    }
                     send(RouteDownloadStatus(lineId, RouteComplete).also { it.rawData = extra })
-                    toDownloadLineId = null
+                    toDownloadLineInfo = null
                 }
 
                 MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE,
-                MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING,
                 MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_TIMEOUT -> {
                     // 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
-                    extra[4] = lineId to System.currentTimeMillis()
+                    if (code == MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE) {
+                        extra[5] = lineId to info
+                    } else {
+                        extra[6] = lineId to info
+                    }
                     send(RouteDownloadStatus(lineId, RouteFailed).also { it.rawData = extra })
-                    toDownloadLineId = null
+                    toDownloadLineInfo = null
                 }
             }
         }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
index 28d2934a13..4daa8cb771 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
@@ -192,6 +192,9 @@ class AutopilotControlParameters {
                     "timestamp_dpqp=$timestamp_dpqp)"
         }
 
+        fun deepCopy(): AutoPilotLine {
+            return AutoPilotLine(this.lineId, this.lineName, this.trajUrl, this.trajMd5, this.stopUrl, this.stopMd5, this.timestamp, this.vehicleModel, this.trajUrl_dpqp, this.trajMd5_dpqp, this.stopUrl_dpqp, this.stopMd5_dpqp, this.timestamp_dpqp)
+        }
     }
 
     class AutoPilotLonLat {