diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
index 843fb6e68b..552523aaa0 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
@@ -163,11 +163,11 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
 
             @Override
             public void onClickImpl(View v) {
-                if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE){
+//                if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE){
                     restartAutopilot();
-                }else {
-                    ToastUtils.showShort(getResources().getString(R.string.sweeper_auto_disable_tip));
-                }
+//                }else {
+//                    ToastUtils.showShort(getResources().getString(R.string.sweeper_auto_disable_tip));
+//                }
             }
         });
 
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java
index 9bcc5cbd15..e5c1505746 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java
@@ -472,36 +472,37 @@ public class SweeperOrderModel {
         triggerStartServiceEvent(isRestart, false);
 
         isArrivedStation = false;
-        SweeperStationBean currentStation = stationList.get( backgroundCurrentStationIndex);
-        SweeperStationBean nextStation = stationList.get( backgroundCurrentStationIndex + 1);
+//        SweeperStationBean currentStation = stationList.get( backgroundCurrentStationIndex);
+//        SweeperStationBean nextStation = stationList.get( backgroundCurrentStationIndex + 1);
 
 //        if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
 //                == CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()) {
 //            ToastUtils.showShort("自动驾驶状态为不可用！");
 //        }
         AutopilotControlParameters parameters = new AutopilotControlParameters();
-        parameters.isSpeakVoice = !isRestart;
-        parameters.routeID = sweeperRoutesResult.getLineId();
-        parameters.routeName = sweeperRoutesResult.getName();
-        parameters.startName = PinYinUtil.getPinYinHeadChar(currentStation.getName());
-        parameters.endName = PinYinUtil.getPinYinHeadChar(nextStation.getName());
-        parameters.startLatLon = new AutopilotControlParameters
-                .AutoPilotLonLat( currentStation.getLat(), currentStation.getLon() );
-        parameters.endLatLon = new AutopilotControlParameters
-                .AutoPilotLonLat( nextStation.getLat(), nextStation.getLon() );
-        parameters.vehicleType = VEHICLE_TYPE;
-        if (parameters.autoPilotLine == null) {
-            parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
-                    sweeperRoutesResult.getLineId(),
-                    sweeperRoutesResult.csvFileUrl, sweeperRoutesResult.csvFileMd5,
-                    sweeperRoutesResult.txtFileUrl, sweeperRoutesResult.txtFileMd5,
-                    sweeperRoutesResult.contrailSaveTime, sweeperRoutesResult.carModel,
-                    sweeperRoutesResult.csvFileUrlDPQP, sweeperRoutesResult.csvFileMd5DPQP,
-                    sweeperRoutesResult.txtFileUrlDPQP, sweeperRoutesResult.txtFileMd5DPQP,
-                    sweeperRoutesResult.contrailSaveTimeDPQP);
-        }
-        CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
-                +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
+//        parameters.isSpeakVoice = !isRestart;
+//        parameters.routeID = sweeperRoutesResult.getLineId();
+//        parameters.routeName = sweeperRoutesResult.getName();
+//        parameters.startName = PinYinUtil.getPinYinHeadChar(currentStation.getName());
+//        parameters.endName = PinYinUtil.getPinYinHeadChar(nextStation.getName());
+//        parameters.startLatLon = new AutopilotControlParameters
+//                .AutoPilotLonLat( currentStation.getLat(), currentStation.getLon() );
+//        parameters.endLatLon = new AutopilotControlParameters
+//                .AutoPilotLonLat( nextStation.getLat(), nextStation.getLon() );
+//        parameters.vehicleType = VEHICLE_TYPE;
+//        if (parameters.autoPilotLine == null) {
+//            parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
+//                    sweeperRoutesResult.getLineId(),
+//                    sweeperRoutesResult.csvFileUrl, sweeperRoutesResult.csvFileMd5,
+//                    sweeperRoutesResult.txtFileUrl, sweeperRoutesResult.txtFileMd5,
+//                    sweeperRoutesResult.contrailSaveTime, sweeperRoutesResult.carModel,
+//                    sweeperRoutesResult.csvFileUrlDPQP, sweeperRoutesResult.csvFileMd5DPQP,
+//                    sweeperRoutesResult.txtFileUrlDPQP, sweeperRoutesResult.txtFileMd5DPQP,
+//                    sweeperRoutesResult.contrailSaveTimeDPQP);
+//        }
+//        CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
+//                +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
+        CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters));
         CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
 
         if (mControllerStatusCallback != null) {
@@ -651,12 +652,13 @@ public class SweeperOrderModel {
      * 开启自动驾驶到下一站
      */
     public void autoDriveToNextStation( boolean isRestart ) {
-        if ( backgroundCurrentStationIndex >= stationList.size() - 1 ) {
-            // 当前站是最后一站，结束当前行程
-            travelOver();
-            return;
-        }
-        leaveStation(false,isRestart);
+//        if ( backgroundCurrentStationIndex >= stationList.size() - 1 ) {
+//            // 当前站是最后一站，结束当前行程
+//            travelOver();
+//            return;
+//        }
+//        leaveStation(false,isRestart);
+        startAutopilot(isRestart);
     }
 
     /**
@@ -753,8 +755,10 @@ public class SweeperOrderModel {
      * 在踩刹车、控制方向盘等操作后，会停止自动驾驶，重启自动驾驶的话相当于重新设置自动驾驶目的地
      */
     public void restartAutopilot() {
-        CallerLogger.INSTANCE.d( M_BUS + TAG, "重启自动驾驶===" + isGoingToNextStation );
-        autoDriveToNextStation( true );
+//        CallerLogger.INSTANCE.d( M_BUS + TAG, "重启自动驾驶===" + isGoingToNextStation );
+//        autoDriveToNextStation( true );
+        //直接开启自动驾驶
+        startAutopilot(true);
     }
 
     /**
@@ -836,10 +840,10 @@ public class SweeperOrderModel {
      * @param data
      */
     public void onArriveAt( MessagePad.ArrivalNotification data){
-        if ( backgroundCurrentStationIndex +1 > stationList.size() - 1 ) {
-            CallerLogger.INSTANCE.e( M_BUS + TAG, "到站异常，取消后续操作结束" );
-            return;
-        }
+//        if ( backgroundCurrentStationIndex +1 > stationList.size() - 1 ) {
+//            CallerLogger.INSTANCE.e( M_BUS + TAG, "到站异常，取消后续操作结束" );
+//            return;
+//        }
 
         if (isArrivedStation) return;
         isArrivedStation = true;
@@ -852,7 +856,7 @@ public class SweeperOrderModel {
         CallerLogger.INSTANCE.d( M_BUS + TAG, "到站====currentStationIndex=" + backgroundCurrentStationIndex);
         isGoingToNextStation = false;
 
-        arriveSiteStation(false);//到站上报
+//        arriveSiteStation(false);//到站上报
     }
 
     public boolean isGoingToNextStation() {
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
index 8852460f55..02a7075a08 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
@@ -101,11 +101,11 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     }
 
     public void restartAutopilot() {
-        if (SweeperOrderModel.getInstance().isGoingToNextStation()){
+//        if (SweeperOrderModel.getInstance().isGoingToNextStation()){
             currentAutopilotStatus = -1;
             SweeperOrderModel.getInstance().restartAutopilot();
             isRestartAutopilot = true;
-        }
+//        }
     }
 
     public void onChangeOperationStatus() {
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
index 5814cf8329..f5b347d922 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
@@ -49,7 +49,7 @@ import chassis.VehicleStateOuterClass;
 public class SweeperOperatePanelView extends LinearLayout {
 
     private static final String TAG = "SweeperOperatePanelView";
-    private static final int CMD_EXECUTE_TIMEOUT_SECONDS = 5;
+    private static final int CMD_EXECUTE_TIMEOUT_SECONDS = 30;
     private static final int CMD_EXECUTE_MOCK_SUCCESS_SECONDS = 3;
 
     CheckedTextView mBtnCleanWorkOpenClose;//开关
@@ -190,7 +190,7 @@ public class SweeperOperatePanelView extends LinearLayout {
                     success = cleanSystemState.getSecuMotWorkSts();
                 }
                 //TODO
-                return true;
+                return success;
             }
 
             @Override
@@ -301,7 +301,7 @@ public class SweeperOperatePanelView extends LinearLayout {
                         && !clean_mode_pure_draw
                         && !clean_mode_pure_sweep;
 
-                if (clean_mode_close) {// 关闭放第一判断
+                if (isClickCurrentChoosedModeBtn && clean_mode_close) {// 关闭放第一判断
                     success = clean_mode_close;
                 } else if (isPureSweepClick) {
                     //success = clean_mode_pure_sweep;
@@ -315,7 +315,7 @@ public class SweeperOperatePanelView extends LinearLayout {
                     success = clean_mode_pure_draw;
                 }
                 //TODO
-                return true;
+                return success;
             }
 
             @Override
@@ -412,7 +412,7 @@ public class SweeperOperatePanelView extends LinearLayout {
                 boolean clean_direction_close = !clean_direction_left_side && !clean_direction_right_side
                         && !clean_direction_both_side;
 
-                if (clean_direction_close) {//关闭放第一判断
+                if (isClickCurrentChoosedDirectionBtn && clean_direction_close) {//关闭放第一判断
                     success = clean_direction_close;
                 } else if (isLeftSide) {
                     success = clean_direction_left_side;
@@ -422,7 +422,7 @@ public class SweeperOperatePanelView extends LinearLayout {
                     success = clean_direction_both_side;
                 }
                 //TODO
-                return true;
+                return success;
             }
 
             @Override
@@ -495,7 +495,7 @@ public class SweeperOperatePanelView extends LinearLayout {
                     success = clean_intensity_strong;
                 }
                 //TODO
-                return true;
+                return success;
             }
 
             @Override
@@ -534,11 +534,13 @@ public class SweeperOperatePanelView extends LinearLayout {
      * @param enable
      */
     private void toggleCleanModeBtnsStatus(boolean enable) {
-        for (Integer viewId : cleanModeBtnViewIds) {
-            CheckedTextView view = (CheckedTextView) findViewById(viewId);
-            view.setEnabled(enable);
-            view.setChecked(false);
-        }
+        runOnUIThread(() -> {
+            for (Integer viewId : cleanModeBtnViewIds) {
+                CheckedTextView view = (CheckedTextView) findViewById(viewId);
+                view.setEnabled(enable);
+                view.setChecked(false);
+            }
+        });
     }
 
     /**
@@ -548,13 +550,15 @@ public class SweeperOperatePanelView extends LinearLayout {
      * @param enable
      */
     private void toggleCleanModeBtnsByChoosedViewId(int choosedBtnId, boolean enable) {
-        for (Integer viewId : cleanModeBtnViewIds) {
-            CheckedTextView view = (CheckedTextView) findViewById(viewId);
-            if (view.getId() != choosedBtnId) {
-                view.setEnabled(enable);
-                view.setChecked(false);
+        runOnUIThread(() -> {
+            for (Integer viewId : cleanModeBtnViewIds) {
+                CheckedTextView view = (CheckedTextView) findViewById(viewId);
+                if (view.getId() != choosedBtnId) {
+                    view.setEnabled(enable);
+                    view.setChecked(false);
+                }
             }
-        }
+        });
     }
 
     /**
@@ -563,11 +567,13 @@ public class SweeperOperatePanelView extends LinearLayout {
      * @param enable
      */
     private void toggleCleanDirectionBtnsStatus(boolean enable) {
-        for (Integer viewId : cleanDirectionBtnViewIds) {
-            CheckedTextView view = (CheckedTextView) findViewById(viewId);
-            view.setEnabled(enable);
-            view.setChecked(false);
-        }
+        runOnUIThread(() -> {
+            for (Integer viewId : cleanDirectionBtnViewIds) {
+                CheckedTextView view = (CheckedTextView) findViewById(viewId);
+                view.setEnabled(enable);
+                view.setChecked(false);
+            }
+        });
     }
 
     /**
@@ -577,13 +583,15 @@ public class SweeperOperatePanelView extends LinearLayout {
      * @param enable
      */
     private void toggleCleanDirectionBtnsByChoosedViewId(int choosedBtnId, boolean enable) {
-        for (Integer viewId : cleanDirectionBtnViewIds) {
-            CheckedTextView view = (CheckedTextView) findViewById(viewId);
-            if (view.getId() != choosedBtnId) {
-                view.setEnabled(enable);
-                view.setChecked(false);
+        runOnUIThread(() -> {
+            for (Integer viewId : cleanDirectionBtnViewIds) {
+                CheckedTextView view = (CheckedTextView) findViewById(viewId);
+                if (view.getId() != choosedBtnId) {
+                    view.setEnabled(enable);
+                    view.setChecked(false);
+                }
             }
-        }
+        });
     }
 
     /**
@@ -592,11 +600,13 @@ public class SweeperOperatePanelView extends LinearLayout {
      * @param enable
      */
     private void toggleCleanIntensityBtnsStatus(boolean enable) {
-        for (Integer viewId : cleanIntensityBtnViewIds) {
-            CheckedTextView view = (CheckedTextView) findViewById(viewId);
-            view.setEnabled(enable);
-            view.setChecked(false);
-        }
+        runOnUIThread(() -> {
+            for (Integer viewId : cleanIntensityBtnViewIds) {
+                CheckedTextView view = (CheckedTextView) findViewById(viewId);
+                view.setEnabled(enable);
+                view.setChecked(false);
+            }
+        });
     }
 
     /**
@@ -652,6 +662,7 @@ public class SweeperOperatePanelView extends LinearLayout {
      */
     private void hideLoadingMask() {
         runOnUIThread(() -> {
+            mSweeperOperateCmdHandler.removeMessages(MSG_CMD_EXECUTE_COUNT_DOWN);
             mLoadingContainer.setVisibility(View.GONE);
         });
     }
@@ -793,6 +804,7 @@ public class SweeperOperatePanelView extends LinearLayout {
             }
             // 有命令正在执行
             if (mCurrentCmdRequestCallback != null) {
+                Log.d(TAG, "getSecuWorkLeftSts = " + cleanSystemState.getSecuWorkLeftSts());
                 if (mCurrentCmdRequestCallback.onCheckIfCmdSuccess(cleanSystemState)) {
                     mCurrentCmdRequestCallback.onCmdSuccess();
                     mCurrentCmdRequestCallback = null;
@@ -806,7 +818,7 @@ public class SweeperOperatePanelView extends LinearLayout {
         super.onAttachedToWindow();
         CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
         // TODO 最终调试时需要打开
-        //syncVehicleStateAndRecoverOperatePanelStates();
+        syncVehicleStateAndRecoverOperatePanelStates();
         // Mock VehicleState 数据回调
         // UiThreadHandler.postDelayed(() -> {
         //     onSyncVehicleStateCallBack(SweeperFutianCmdUtil.buildSweeperFuTionCleanSystemStateMockData());
@@ -968,7 +980,7 @@ public class SweeperOperatePanelView extends LinearLayout {
         msg.obj = timeout;
         mSweeperOperateCmdHandler.sendMessage(msg);
         // Mock Cmd Success
-        mockSendCmdSuccess();
+//        mockSendCmdSuccess();
     }
 
     private void mockSendCmdSuccess() {
@@ -1045,4 +1057,5 @@ public class SweeperOperatePanelView extends LinearLayout {
 
         void onCmdTimeout();
     }
+
 }