[清扫车]接口联调相关问题修改

2023-02-24 20:28:11 +08:00
parent a49d725c72
commit 093b4ab30f
19 changed files with 380 additions and 168 deletions
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/SweeperSubTaskBean.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/SweeperSubTaskBean.kt
@@ -3,11 +3,14 @@ package com.mogo.och.sweeper.bean
 /**
 * 子任务信息
 */
-data class SweeperSubTaskBean(var taskId:Int=0,
-                              var taskName:String?,
-                              var taskStartTime:Long=0,
-                              var sort:Int=1,
-                              var subList:MutableList<SubInfo>?)
+data class SweeperSubTaskBean(
+    var taskId: Int = 0,
+    var taskName: String?,
+    var taskStartTime: Long = 0,
+    var sort: Int = 1,
+    var subList: MutableList<SubInfo>?
+)
+
 data class SubInfo(
    var taskId: Int = 0,
    var taskName: String?,
@@ -15,9 +18,11 @@ data class SubInfo(
    var taskStatus: Int,// 状态1未执行 2执行中 3结束 4跳过
    var taskType: Int,//1自动驾驶 2人工驾驶
    var timeSpent: String,
-    var startWgs84Lon:Double,//起点经度
-    var startWgs84Lat:Double,//起点纬度
-    var endWgs84Lon:Double,//终点经度
-    var endWgs84Lat:Double,//终点纬度
+    var startSiteName: String,//起点名称
+    var startWgs84Lon: Double,//起点经度
+    var startWgs84Lat: Double,//起点纬度
+    var endSiteName: String,//终点名称
+    var endWgs84Lon: Double,//终点经度
+    var endWgs84Lat: Double,//终点纬度
    var sort: Int = 0,
 )
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/constant/TaskStatusEnum.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/constant/TaskStatusEnum.kt
@@ -8,5 +8,5 @@ enum class TaskStatusEnum(val code: Int) {
    END_TASK( 2),//结束主任务
    CANCEL_TASK( 3),//取消
    START_SUBTASK(4),//开始子任务
-    END_SUBTASK(4),//结束子任务
+    END_SUBTASK(5),//结束子任务
 }
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/bean/WeltDataBean.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/bean/WeltDataBean.java
@@ -1,12 +1,14 @@
 package com.mogo.och.sweeper.database.bean;

+import java.io.Serializable;
+
 import androidx.room.ColumnInfo;
 import androidx.room.Entity;
 import androidx.room.Index;
 import androidx.room.PrimaryKey;

@Entity(tableName = WeltDataBean.WeltDataTable, indices = {@Index(value = "id", unique = true)})
-public class WeltDataBean {
+public class WeltDataBean implements Serializable {

    public static final String WeltDataTable = "welt_data_table";
    //ColumnInfo用于指定该字段存储在表中的名字，并指定类型
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/dao/WeltDataDao.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/dao/WeltDataDao.java
@@ -2,6 +2,7 @@ package com.mogo.och.sweeper.database.dao;

 import com.mogo.och.sweeper.database.bean.WeltDataBean;

+import java.util.ArrayList;
 import java.util.List;

 import androidx.room.Dao;
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/event/WeltDataEvent.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/event/WeltDataEvent.kt
@@ -0,0 +1,10 @@
+package com.mogo.och.sweeper.event
+
+import com.amap.api.maps.model.LatLng
+import com.mogo.och.sweeper.database.bean.WeltDataBean
+
+data class WeltDataEvent(
+    var type:Int, //1.添加起点和终点 2.实时添加贴边数据 3.清除数据
+    var weltDataBeanList: MutableList<WeltDataBean>?,
+    var markers:MutableList<LatLng>?
+)
--- 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
@@ -9,6 +9,7 @@ import android.widget.ImageView;
 import android.widget.LinearLayout;

 import com.amap.api.maps.model.LatLng;
+import com.amap.api.navi.model.NaviLatLng;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
@@ -30,7 +31,6 @@ import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
-import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.sweeper.R;
 import com.mogo.och.sweeper.database.bean.WeltDataBean;
 import com.mogo.och.sweeper.callback.IWeltMapSwitchToSmallCallback;
@@ -89,6 +89,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
    private DriverMsgBoxButtonView mViewDriverMsgBoxButton;
    private DriverMsgBoxListView mViewDriverMsgBoxList;
    private DriverMsgBoxBubbleView mViewDriverMsgBoxBubble;
+    private ArrayList<WeltDataBean> weltDataBeanList;//存储贴边数据
+    private ArrayList<LatLng> latLngList;//存储任务起点和终点

    @Override
    protected int getLayoutId() {
@@ -133,7 +135,17 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
        findViewById(R.id.btnAutopilotRunning).setOnClickListener(view ->
                debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
        );
-
+        // 模拟 结束子任务
+        findViewById(R.id.btnEndTask).setOnClickListener(view ->
+                debugEndSubTask()
+        );
+        mTrafficDataView.setOnLongClickListener(new View.OnLongClickListener() {
+            @Override
+            public boolean onLongClick(View v) {
+                debugTestBar();
+                return false;
+            }
+        });
    }

    private void updateSwitchMapIcon() {
@@ -154,8 +166,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
        super.initViews(savedInstanceState);
        mapBizView.onCreate(savedInstanceState);
        mMapWeltView.onCreateView(savedInstanceState);
-        //mock 贴边数据
-        setWeltData();
    }

    /**
@@ -218,7 +228,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
        mRefreshNavi.setOnClickListener(this);
        mMapWeltView.getSwitchToBig().setOnClickListener((v) -> {
            showOrHideOverMapViewFragment(true);
-            setWeltData();
        });
    }

@@ -276,7 +285,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
    }

    /**
-     * bus调试面板打开关闭
+     * sweeper调试面板打开关闭
     */
    public void debugTestBar() {
        if (groupTestPanel.getVisibility() == View.VISIBLE) {
@@ -381,7 +390,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
        if (isShow) {
            mFlWeltMapOverView.setVisibility(View.VISIBLE);
            if (mWeltMapOverViewFragment == null) {
-                mWeltMapOverViewFragment = mWeltMapOverViewFragment.newInstance(this);
+                mWeltMapOverViewFragment = mWeltMapOverViewFragment.newInstance(this,weltDataBeanList,latLngList);
            }
            if (mWeltMapOverViewFragment.isHidden()) {
                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
@@ -416,14 +425,15 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     *
     * @param weltDataBeans
     */
-    public void setWeltDataToMap(List<WeltDataBean> weltDataBeans) {
+    public void setWeltDataToMap(ArrayList<WeltDataBean> weltDataBeans,Boolean isWeltData) {
        if (mMapWeltView != null) {
-            mMapWeltView.setWeltData(weltDataBeans);
+            mMapWeltView.setWeltData(weltDataBeans,isWeltData);
            runOnUIThread(() -> {
                mMapWeltView.drawablePolyline();
            });
        }
-        EventBus.getDefault().post(new WeltDataEvent(2, weltDataBeans, null));
+        this.weltDataBeanList = weltDataBeans;
+        EventBus.getDefault().postSticky(new WeltDataEvent(2, weltDataBeans, null));
    }

    /**
@@ -433,10 +443,11 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
        if (mMapWeltView != null) {
            mMapWeltView.addStartAndEndMarker(startPoint, endPoint);
        }
-        List<LatLng> latLngs = new ArrayList<>(2);
+        ArrayList<LatLng> latLngs = new ArrayList<>(2);
        latLngs.add(0, startPoint);
        latLngs.add(1, endPoint);
-        EventBus.getDefault().post(new WeltDataEvent(1, null, latLngs));
+        this.latLngList = latLngs;
+        EventBus.getDefault().postSticky(new WeltDataEvent(1, null, latLngs));
    }

    /**
@@ -446,7 +457,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
        if (mMapWeltView != null) {
            mMapWeltView.clearAllMarkerAndPolyline();
        }
-        EventBus.getDefault().post(new WeltDataEvent(3, null, null));
+        EventBus.getDefault().postSticky(new WeltDataEvent(3, null, null));
    }

    private void runOnUIThread(Runnable executor) {
@@ -461,30 +472,20 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
    }

    /**
-     * mock 贴边假数据
+     * 导航去目的地
     */
-    private void setWeltData() {
-        List<WeltDataBean> weltDataBean = new ArrayList<>();
-        weltDataBean.add(getWeltDataBean(116.38851540542558, 39.97419244219622, -10.0));
-        weltDataBean.add(getWeltDataBean(116.38777443467706, 39.96694323029558, 8.0));
-        weltDataBean.add(getWeltDataBean(116.39311478161825, 39.967085313029074, 16.0));
-        weltDataBean.add(getWeltDataBean(116.40963237692603, 39.975055860562826, 30.0));
-        weltDataBean.add(getWeltDataBean(116.41146331146084, 39.97513910337909, -9999.0));
-        weltDataBean.add(getWeltDataBean(116.40748849300006, 39.96752223478818, -10000.0));
-        weltDataBean.add(getWeltDataBean(116.42670283855335, 39.97526250389533, 1000.0));
-        setWeltDataToMap(weltDataBean);
-        addStartAndEndMarker(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), 116.38851540542558,
-                        39.97419244219622),
-                CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), 116.42670283855335, 39.97526250389533));
+    public void startNaviToStation(Boolean isVoicePlay, double startLat, double startLng, double endLat, double endLng) {
+        AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
+        NaviLatLng startNaviLatLng = new NaviLatLng(startLat, startLng);
+        NaviLatLng endNaviLatLng = new NaviLatLng(endLat, endLng);
+        AmapNaviToDestinationModel.getInstance(getContext()).initAMapNavi(startNaviLatLng, endNaviLatLng);
+        AmapNaviToDestinationModel.getInstance(getContext()).setVoiceIsMute(isVoicePlay);
    }

-    private WeltDataBean getWeltDataBean(Double locLon, Double locLat, Double weltDistance) {
-        //把wgs坐标系坐标转换成gcj坐标
-        LatLng latLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), locLon, locLat);
-        WeltDataBean weltDataBean = new WeltDataBean();
-        weltDataBean.setLocLon(latLng.longitude);
-        weltDataBean.setLocLat(latLng.latitude);
-        weltDataBean.setWeltDistance(weltDistance);
-        return weltDataBean;
+    /**
+     * 结束子任务
+     */
+    public void debugEndSubTask() {
+
    }
 }
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
@@ -7,6 +7,8 @@ import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.ChassisStatesOuterClass
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.sweeper.R
 import com.mogo.och.sweeper.bean.SubInfo
@@ -15,6 +17,7 @@ import com.mogo.och.sweeper.bean.SweeperSubTaskBean
 import com.mogo.och.sweeper.bean.SweeperSubTaskDetailBean
 import com.mogo.och.sweeper.constant.SubTaskTypeEnum
 import com.mogo.och.sweeper.constant.TaskStatusEnum
+import com.mogo.och.sweeper.database.bean.WeltDataBean
 import com.mogo.och.sweeper.presenter.SweeperPresenter
 import com.mogo.och.sweeper.ui.adapter.TaskListAdapter
 import com.mogo.och.sweeper.ui.dialog.SweeperManualDrivingDialog
@@ -27,17 +30,16 @@ import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
 * 清扫车主界面
 */
 class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresenter?>(), MenuPopWindow.OnMenuItemOnClickListener {
+    private val TAG = "SweeperFragment"
    private var mAdapter: TaskListAdapter? = null
    private var mCurrentSubPosition: Int = 0 //子任务下标
    private var mSubMutableList: MutableList<SubInfo>? = null
    private var mSubTaskBean: SweeperSubTaskBean? = null
    private var mSubTaskType: SubTaskTypeEnum = SubTaskTypeEnum.AUTOPILOT_SUBTYPE //1:自动驾驶子任务 2：人工驾驶子任务
    private var mCleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = null
-    private var mSubTaskId: Int = -1//子任务id
-    private var mSubTaskName: String? = null
    private var mMainTask: SweeperMainTaskBean? = null
    private var mLocation: MogoLocation? = null
-    private var mSubTaskDetailBean: SweeperSubTaskDetailBean? = null
+    private var mSubInfo: SubInfo? = null

    //当前经纬度
    override fun getTagName(): String {
@@ -128,6 +130,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                mSubTaskBean = SweeperSubTaskBean(task.mainTaskId, task.mainTaskName, task.mainTaskStartTime, 1, mSubMutableList)
                //获取当前子任务列表
                presenter?.getSubTaskList(task.mainTaskId, mSubTaskBean)
+                mAdapter?.selectPosition(-1)
            }
        }
        //列表任务刷新
@@ -152,7 +155,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
    override fun onMenuItemClick(itemType: TaskStatusEnum) {
        when (itemType.code) {
            TaskStatusEnum.JUMP_OVER_SUBTASK.code -> {//跳过任务
-                presenter?.subTaskSkip(isFirstSubTask(), isLastSubTask(), mSubTaskId)
+                mSubInfo?.let {
+                    //如果当前只有一个子任务，则isFirst设置为false
+                    presenter?.subTaskSkip(if (mSubMutableList?.size == 1) false else isFirstSubTask(), isLastSubTask(), it.taskId)
+                }
            }
            TaskStatusEnum.END_TASK.code -> {//结束主任务
                endMainTask()
@@ -197,20 +203,20 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
            } else {
                0
            }
+            d(SceneConstant.M_SWEEPER + TAG, "setSubTaskBean mCurrentSubPosition：$mCurrentSubPosition")
            sweeper_current_task_view.setData(sweeper_cl_work_mode, it, mCurrentSubPosition, this, presenter)
-            mSubMutableList=it.subList
+            mSubMutableList = it.subList
            setSubTaskData()
-            presenter?.getSubTaskDetail(mSubTaskId, mSubTaskType)//加载子任务详情包括轨迹信息
-            mMainTask = SweeperMainTaskBean(it.taskId, it.taskName, 0, it.taskStartTime)
-            mSubMutableList?.let {subList->
-                if (subList.size<=0){
-                    return
+            if (mSubTaskType.code == SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code) {//自动驾驶子任务需要调用详情
+                mSubInfo?.let { subInfo ->
+                    presenter?.getSubTaskDetail(subInfo.taskId, mSubTaskType)//加载子任务详情包括轨迹信息
                }
-                addStartAndEndMarker(
-                    CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), subList[0].startWgs84Lon, subList[0].startWgs84Lat),
-                    CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), subList[subList.size-1].endWgs84Lon, subList[subList.size-1].endWgs84Lat)
-                )
+            } else {
+                manualDriving(mSubInfo)
            }
+            mMainTask = SweeperMainTaskBean(it.taskId, it.taskName, 0, it.taskStartTime)
+            clearAllMarkerAndPolyline()
+            addWeltData()
        }
    }

@@ -219,30 +225,38 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     */
    fun updateSubTaskStatus(typeEnum: TaskStatusEnum, isLastSubTask: Boolean) {
        if (isLastSubTask) {
-            setShowCurrentTaskPanelView(false)
-            setShowTaskListPanelView(true)
-            sweeper_cl_work_mode.visibility = View.GONE
+            mPresenter?.getMainTaskList()
+            clearAllMarkerAndPolyline()
            return
        }
        when (typeEnum.code) {
            TaskStatusEnum.END_SUBTASK.code -> {//子任务结束
-                //是否是最后一个子任务结束
-                if (isLastSubTask()){
-                    mPresenter?.getMainTaskList()
-                    clearAllMarkerAndPolyline()
-                }else{
-                    mCurrentSubPosition++
-                    setSubTaskData()
-                    presenter?.getSubTaskDetail(mSubTaskId, mSubTaskType)
-                    if (mSubTaskType.code == SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code) {//自动驾驶子任务
-                        presenter?.startTask(isFirstSubTask(), isLastSubTask(), mSubTaskId, mSubTaskType)
+                mCurrentSubPosition++
+                setSubTaskData()
+                d(SceneConstant.M_SWEEPER + TAG, "END_SUBTASK mCurrentSubPosition：$mCurrentSubPosition")
+                if (mSubTaskType.code == SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code) {//自动驾驶子任务
+                    mSubInfo?.apply {
+                        presenter?.getSubTaskDetail(taskId, mSubTaskType)
+                        presenter?.startTask(isFirstSubTask(), isLastSubTask(), taskId, mSubTaskType, taskStatus)
                    }
+                } else {
+                    manualDriving(mSubInfo)
                }
            }
            TaskStatusEnum.JUMP_OVER_SUBTASK.code -> { //子任务跳过
-                presenter?.subTaskEnd(isFirstSubTask(), isLastSubTask(), mSubTaskId)
-                if (mSubTaskType.code == SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.code) {//人工驾驶子任务
+                //是否是最后一个子任务结束
+                mCurrentSubPosition++
+                setSubTaskData()
+                d(SceneConstant.M_SWEEPER + TAG, "JUMP_OVER_SUBTASK mCurrentSubPosition：$mCurrentSubPosition")
+                showAmapNaviToStationFragment(false)
+                if (mSubTaskType.code == SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code) {//自动驾驶子任务
+                    mSubInfo?.apply {
+                        presenter?.getSubTaskDetail(taskId, mSubTaskType)
+                        presenter?.startTask(isFirstSubTask(), isLastSubTask(), taskId, mSubTaskType, taskStatus)
+                    }
+                } else {
                    showAmapNaviToStationFragment(false)
+                    manualDriving(mSubInfo)
                }
            }
            TaskStatusEnum.START_SUBTASK.code -> { //子任务开始
@@ -264,10 +278,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     * 子任务信息详情，包括轨迹文件
     */
    fun setSubTakDetail(subTaskDetailBean: SweeperSubTaskDetailBean, subTaskTypeEnum: SubTaskTypeEnum) {
-        if (subTaskTypeEnum.code == SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.code) {//人工驾驶子任务
-            this.mSubTaskDetailBean = subTaskDetailBean
-            manualDriving(subTaskDetailBean)
-        }
+//        if (subTaskTypeEnum.code == SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.code) {//人工驾驶子任务
+//            this.mSubTaskDetailBean = subTaskDetailBean
+//            manualDriving(subTaskDetailBean)
+//        }
    }

    /**
@@ -279,6 +293,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
            mPresenter?.getMainTaskList()
            //清除任务全览图的marker和路线
            clearAllMarkerAndPolyline()
+            showOrHideOverMapViewFragment(false)
        }
    }

@@ -287,12 +302,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     */
    private fun setSubTaskData() {
        mSubMutableList?.let {
-            mSubTaskId = it[mCurrentSubPosition].taskId
-            mSubTaskName = it[mCurrentSubPosition].taskName
+            mSubInfo = it[mCurrentSubPosition]
            mSubTaskType = if (it[mCurrentSubPosition].taskType == SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code)
                SubTaskTypeEnum.AUTOPILOT_SUBTYPE else SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE
            //设置当前子任务信息
-            presenter?.setSubtask(isFirstSubTask(), isLastSubTask(), mSubTaskId)
+            presenter?.setSubtask(isFirstSubTask(), isLastSubTask(), it[mCurrentSubPosition].taskId)
        }
    }

@@ -324,27 +338,32 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
    /**
     * 人工驾驶子任务
     */
-    private fun manualDriving(subTaskDetailBean: SweeperSubTaskDetailBean) {
-        val builder = SweeperManualDrivingDialog.Builder()
-        val endConfirmDialog = builder
-            .tips("前方子任务${mSubTaskName}手动驾驶至${subTaskDetailBean?.endSiteName}")
-            .confirmStr("确认")
-            .build(requireContext())
-        endConfirmDialog?.setClickListener(object : SweeperManualDrivingDialog.ClickListener {
-            override fun confirm() {
-                presenter?.startTask(isFirstSubTask(), isLastSubTask(), mSubTaskId, mSubTaskType)
-                showAmapNaviToStationFragment(true)
-                presenter?.startNaviToStation(
-                    true,
-                    subTaskDetailBean.startSiteLat,
-                    subTaskDetailBean.startSiteLon,
-                    subTaskDetailBean.endSiteLat,
-                    subTaskDetailBean.endSiteLon
-                )
+    private fun manualDriving(subInfo: SubInfo?) {
+        subInfo?.apply {
+            val builder = SweeperManualDrivingDialog.Builder()
+            val endConfirmDialog = builder
+                .tips("前方子任务${taskName}手动驾驶至${endSiteName}")
+                .confirmStr("确认")
+                .build(requireContext())
+            endConfirmDialog?.setClickListener(object : SweeperManualDrivingDialog.ClickListener {
+                override fun confirm() {
+                    presenter?.startTask(isFirstSubTask(), isLastSubTask(), taskId, mSubTaskType, taskStatus)
+                    showAmapNaviToStationFragment(true)
+                    val startPoint =
+                        CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), startWgs84Lon, startWgs84Lat)
+                    val endPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), endWgs84Lon, endWgs84Lat)
+                    startNaviToStation(
+                        true,
+                        startPoint.latitude,
+                        startPoint.longitude,
+                        endPoint.latitude,
+                        endPoint.longitude
+                    )

-            }
-        })
-        endConfirmDialog?.show()
+                }
+            })
+            endConfirmDialog?.show()
+        }
    }

    /**
@@ -358,7 +377,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     * 是否第一个子任务
     */
    fun isLastSubTask(): Boolean {
-        return mCurrentSubPosition == (mSubMutableList?.size ?: 0)
+        return mCurrentSubPosition == (mSubMutableList?.size?.minus(1))
    }

    /**
@@ -369,10 +388,63 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
    }

    override fun refreshNavi() {
-        mSubTaskDetailBean?.apply {
+        mSubInfo?.apply {
            mLocation?.let {
-                presenter?.startNaviToStation(true, it.longitude, it.latitude, endSiteLon, endSiteLat)
+                val endPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), endWgs84Lon, endWgs84Lat)
+                startNaviToStation(true, it.longitude, it.latitude, endPoint.longitude, endPoint.latitude)
            }
        }
    }
+
+    private fun addWeltData() {
+        mSubMutableList?.let { subList ->
+            if (subList.size <= 0) {
+                return
+            }
+            //添加贴边数据绘制
+            addStartAndEndMarker(
+                CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
+                    AbsMogoApplication.getApp(),
+                    subList[0].startWgs84Lon,
+                    subList[0].startWgs84Lat
+                ),
+                CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
+                    AbsMogoApplication.getApp(),
+                    subList[subList.size - 1].endWgs84Lon,
+                    subList[subList.size - 1].endWgs84Lat
+                )
+            )
+            val dataList = ArrayList<WeltDataBean>()
+            for (index in subList.indices) {
+                val startPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
+                    AbsMogoApplication.getApp(),
+                    subList[index].startWgs84Lon,
+                    subList[index].startWgs84Lat
+                )
+                val startWeltData = WeltDataBean()
+                startWeltData.locLat = startPoint.latitude
+                startWeltData.locLon = startPoint.longitude
+                startWeltData.weltDistance=-9999.0
+                dataList.add(startWeltData)
+                val endPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
+                    AbsMogoApplication.getApp(),
+                    subList[index].endWgs84Lon,
+                    subList[index].endWgs84Lat
+                )
+                val endWeltData = WeltDataBean()
+                endWeltData.locLat = endPoint.latitude
+                endWeltData.locLon = endPoint.longitude
+                endWeltData.weltDistance=-9999.0
+                dataList.add(endWeltData)
+            }
+            setWeltDataToMap(dataList,false)
+        }
+    }
+
+    //模拟结束子任务
+    override fun debugEndSubTask() {
+        mSubInfo?.let {
+            mPresenter?.onArriveTaskEnd(null)
+        }
+    }
 }
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
@@ -1,14 +1,27 @@
 package com.mogo.och.sweeper.fragment

 import android.os.Bundle
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import androidx.lifecycle.lifecycleScope
 import com.amap.api.maps.model.LatLng
 import com.mogo.commons.mvp.BaseFragment
 import com.mogo.och.sweeper.R
 import com.mogo.och.sweeper.callback.IWeltMapSwitchToSmallCallback
 import com.mogo.och.sweeper.database.bean.WeltDataBean
+import com.mogo.och.sweeper.event.WeltDataEvent
 import kotlinx.android.synthetic.main.fragment_welt_map_overview.*
 import kotlinx.android.synthetic.main.sweeper_welt_map_overview.*
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.launch
+import org.greenrobot.eventbus.EventBus
+import org.greenrobot.eventbus.Subscribe
+import org.greenrobot.eventbus.ThreadMode

+/**
+ * 作业任务全览图
+ */
 class WeltMapOverViewFragment(var mIWeltMapSwitchToSmallCallBack: IWeltMapSwitchToSmallCallback?) : BaseFragment() {
    override fun getLayoutId(): Int = R.layout.fragment_welt_map_overview
    override fun getTagName(): String {
@@ -19,23 +32,44 @@ class WeltMapOverViewFragment(var mIWeltMapSwitchToSmallCallBack: IWeltMapSwitch

    }

+    override fun onCreateView(inflater: LayoutInflater, container: ViewGroup?, savedInstanceState: Bundle?): View? {
+        EventBus.getDefault().register(this)
+        return super.onCreateView(inflater, container, savedInstanceState)
+    }
+
    override fun initViews(savedInstanceState: Bundle?) {
        super.initViews(savedInstanceState)
        weltMapOverView.onCreateView(savedInstanceState)
-    }
-
-    override fun onActivityCreated(savedInstanceState: Bundle?) {
-        super.onActivityCreated(savedInstanceState)
-        setLegendData()
        sweeperSwitchToSmall.setOnClickListener {
            mIWeltMapSwitchToSmallCallBack?.onWeltMapSwitchToSmall()
        }
+        val bundle = arguments
+        if (bundle != null) {
+            val latLngs = bundle.getSerializable("startAndEndPoint") as? ArrayList<LatLng>
+            val weltDataList = bundle.getSerializable("weltDataList") as? ArrayList<WeltDataBean>
+            latLngs?.let {
+                if (it.size >= 2) {
+                    addStartAndEndMarker(it[0], it[1])
+                }
+            }
+            weltDataList?.let {
+                setWeltData(it,false)
+                drawablePolyline()
+            }
+        }
+
    }

    companion object {
        @JvmStatic
-        fun newInstance(mIWeltMapSwitchToSmallCallBack: IWeltMapSwitchToSmallCallback): WeltMapOverViewFragment {
+        fun newInstance(
+            mIWeltMapSwitchToSmallCallBack: IWeltMapSwitchToSmallCallback,
+            weltDataList: ArrayList<WeltDataBean>,
+            latLngs: ArrayList<LatLng>
+        ): WeltMapOverViewFragment {
            val args = Bundle()
+            args.putSerializable("weltDataList", weltDataList)
+            args.putSerializable("startAndEndPoint", latLngs)
            val fragment = WeltMapOverViewFragment(mIWeltMapSwitchToSmallCallBack)
            fragment.arguments = args
            return fragment
@@ -56,38 +90,54 @@ class WeltMapOverViewFragment(var mIWeltMapSwitchToSmallCallBack: IWeltMapSwitch
        super.onDestroy()
        weltMapOverView.onDestroy()
    }
+
+    override fun onDestroyView() {
+        super.onDestroyView()
+        EventBus.getDefault().unregister(this)
+    }
+
+    @Subscribe(threadMode = ThreadMode.BACKGROUND)
+    fun changeWeltData(weltDataEvent: WeltDataEvent) {
+        if (weltDataEvent.type == 1) {
+            lifecycleScope.launch(Dispatchers.Main) {
+                weltDataEvent.markers?.let {
+                    addStartAndEndMarker(it[0], it[1])
+                }
+            }
+        } else if (weltDataEvent.type == 2) {
+            setWeltData(weltDataEvent.weltDataBeanList,true)
+            lifecycleScope.launch(Dispatchers.Main) {
+                drawablePolyline()
+            }
+        } else if (weltDataEvent.type == 3) {
+            lifecycleScope.launch(Dispatchers.Main) {
+                clearAllMarkerAndPolyline()
+            }
+        }
+    }
+
    /**
     * 设置任务路线数据
     */
-    fun setWeltData(weltDatas:MutableList<WeltDataBean>) {
-        weltMapOverView.setWeltData(weltDatas)
+    private fun setWeltData(weltDatas: MutableList<WeltDataBean>?,isWeltData:Boolean) {
+        weltMapOverView.setWeltData(weltDatas,isWeltData)
    }

    /**
     * 绘制任务路线数据
     */
-    fun drawablePolyline(){
+    private fun drawablePolyline() {
        weltMapOverView.drawablePolyline()
    }
+
    /**
     * 添加起点和终点marker
     */
-    fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng){
-        weltMapOverView.drawStartAndEndMarker(startPoint,endPoint)
+    private fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
+        weltMapOverView.drawStartAndEndMarker(startPoint, endPoint)
    }

-    fun clearAllMarkerAndPolyline(){
+    private fun clearAllMarkerAndPolyline() {
        weltMapOverView.clearAllMarkerAndPolyline()
    }
-    /**
-     * 设置图例数据
-     */
-    private fun setLegendData() {
-        sweeperLegend1.setData(R.drawable.sweeper_legend1, "a<10")
-        sweeperLegend2.setData(R.drawable.sweeper_legend2, "0≤a<10")
-        sweeperLegend3.setData(R.drawable.sweeper_legend3, "10≤a<20")
-        sweeperLegend4.setData(R.drawable.sweeper_legend4, "a≥20")
-        sweeperLegend5.setData(R.drawable.sweeper_legend5, "非贴边")
-        sweeperLegend6.setData(R.drawable.sweeper_legend6, "未经过")
-    }
 }
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -342,7 +342,7 @@ public class SweeperTaskModel {
    public void onArriveTaskEnd(MessagePad.ArrivalNotification data) {
        //MAP 280 每隔100ms左右返回一次到站， 导致在到达中间站后再次滑动出发后会有时间差，收到一次到站，出现问题
        //此处比对 自驾告诉的子任务终点坐标和本地应到子任务终点坐标， 一致时才表示子任务完成
-        if (data != null && data.getEndLocation() != null) {
+        if (data != null && data.getEndLocation() != null&&currentSubTaskDetail!=null) {
            String latitude = NumberFormatUtil.cutOutNumber(data.getEndLocation().getLatitude(), 5); //wgs
            String longitude = NumberFormatUtil.cutOutNumber(data.getEndLocation().getLongitude(), 5);
            String arriveLat = NumberFormatUtil.cutOutNumber(currentSubTaskDetail.getEndSiteWgs64Lat(), 5);
@@ -354,7 +354,7 @@ public class SweeperTaskModel {
        }
        if (isArriveSubTaskEndSite)return;
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "行程日志-当前==subTaskId="
-                + currentSubTaskDetail.getId());
+                + mSubTaskId);
        //到达子任务终点 结束子任务
        subTaskEnd(mIsFirstSubtask,mIsLastSubtask,mSubTaskId);
    }
@@ -426,6 +426,7 @@ public class SweeperTaskModel {
        SweeperServiceManager.getCurrentTask(mContext, new OchCommonServiceCallback<BaseResponse<SweeperSubTaskBean>>() {
            @Override
            public void onSuccess(BaseResponse<SweeperSubTaskBean> data) {
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask："+GsonUtil.jsonFromObject(data));
                if (mSweeperTaskCallback != null && data != null) {
                    SweeperSubTaskBean sweeperSubTaskBean = data.getData();
                    if (sweeperSubTaskBean != null && sweeperSubTaskBean.getSubList() != null && sweeperSubTaskBean.getSubList().size() > 0) {
@@ -465,6 +466,7 @@ public class SweeperTaskModel {
        SweeperServiceManager.getMainTaskList(mContext, new OchCommonServiceCallback<BaseResponse<List<SweeperMainTaskBean>>>() {
            @Override
            public void onSuccess(BaseResponse<List<SweeperMainTaskBean>> data) {
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getMainTaskList："+GsonUtil.jsonFromObject(data));
                if (mSweeperTaskCallback != null && data != null && data.getCode() == 0) {
                    List<SweeperMainTaskBean> list = data.getData();
                    mSweeperTaskCallback.setMainTaskList(list);
@@ -500,6 +502,7 @@ public class SweeperTaskModel {
        SweeperServiceManager.getSubTaskList(taskId, mContext, new OchCommonServiceCallback<BaseResponse<List<SubInfo>>>() {
            @Override
            public void onSuccess(BaseResponse<List<SubInfo>> data) {
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getSubTaskList："+GsonUtil.jsonFromObject(data));
                if (mSweeperTaskCallback != null && data != null && data.getCode() == 0) {
                    List<SubInfo> list = data.getData();
                    if (list != null && list.size() > 0) {
@@ -540,6 +543,7 @@ public class SweeperTaskModel {
        SweeperServiceManager.getSubTaskDetail(subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<SweeperSubTaskDetailBean>>() {
            @Override
            public void onSuccess(BaseResponse<SweeperSubTaskDetailBean> data) {
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getSubTaskDetail："+GsonUtil.jsonFromObject(data));
                if (data != null) {
                    currentSubTaskDetail = data.getData();
                    if (currentSubTaskDetail != null) {
@@ -582,6 +586,7 @@ public class SweeperTaskModel {
        SweeperServiceManager.subTaskStart(isFirst,isEnd,subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
            @Override
            public void onSuccess(BaseResponse<Boolean> data) {
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "subTaskStart："+GsonUtil.jsonFromObject(data));
                if (mSweeperTaskCallback != null && data != null) {
                    if (data.getData()) {
                        isSubTaskWorking = true;
@@ -631,6 +636,7 @@ public class SweeperTaskModel {
        SweeperServiceManager.subTaskEnd(isFirst,isEnd,subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
            @Override
            public void onSuccess(BaseResponse<Boolean> data) {
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "subTaskEnd："+GsonUtil.jsonFromObject(data));
                if (mSweeperTaskCallback != null && data != null) {
                    if (data.getData()) {
                        isSubTaskWorking = false;
@@ -678,12 +684,11 @@ public class SweeperTaskModel {
        SweeperServiceManager.subTaskSkip(isFirst,isEnd,subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
            @Override
            public void onSuccess(BaseResponse<Boolean> data) {
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "subTaskSkip："+GsonUtil.jsonFromObject(data));
                if (mSweeperTaskCallback != null && data != null) {
                    if (data.getData()) {
+                        isSubTaskWorking=false;
                        mSweeperTaskCallback.updateSubTaskStatus(TaskStatusEnum.JUMP_OVER_SUBTASK, isEnd);
-                        if (isEnd) {//如果是最后一个子任务，则跳过完成后，调用结束子任务接口，这样后端可以才可以把整个大任务结束掉
-                            subTaskEnd(isFirst,isEnd,subTaskId);
-                        }
                    }
                }
            }
@@ -717,6 +722,7 @@ public class SweeperTaskModel {
        SweeperServiceManager.mainTaskReset(taskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
            @Override
            public void onSuccess(BaseResponse<Boolean> data) {
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "mainTaskReset："+GsonUtil.jsonFromObject(data));
                if (mSweeperTaskCallback != null && data != null) {
                    mSweeperTaskCallback.setMainTaskReset(data.getData());
                }
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/ISweeperApiService.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/ISweeperApiService.java
@@ -78,7 +78,7 @@ public interface ISweeperApiService {
     * @return
     */
    @Headers({"Content-type:application/json;charset=UTF-8"})
-    @POST("/och-sweep/api/task/v1/sutTaskEnd")
+    @POST("/och-sweep/api/task/v1/subTaskEnd")
    Observable<BaseResponse<Boolean>> subTaskEnd(@Header ("appId") String appId, @Header("ticket") String ticket, @Body SubStartRequest subStartRequest);
    /**
     * 子任务跳过
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/SweeperServiceManager.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/SweeperServiceManager.kt
@@ -1,15 +1,20 @@
 package com.mogo.och.sweeper.net

 import android.content.Context
+import com.elegant.network.utils.GsonUtil
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.biz.network.OchCommonSubscribeImpl
 import com.mogo.och.common.module.biz.network.interceptor.transformTry
 import com.mogo.och.sweeper.bean.*
 import com.mogo.och.sweeper.constant.SweeperConst.Companion.getBaseUrl
+import com.mogo.och.sweeper.model.SweeperTaskModel

 object SweeperServiceManager {
+    private val TAG = SweeperTaskModel::class.java.simpleName
    private val mService: ISweeperApiService = MoGoRetrofitFactory.getInstance(getBaseUrl()).create(
        ISweeperApiService::class.java
    )
@@ -77,6 +82,7 @@ object SweeperServiceManager {
    @JvmStatic
    fun subTaskStart(isFirst:Boolean,isEnd:Boolean,subTaskId: Int,context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
        val subStartRequest = SubStartRequest(MoGoAiCloudClientConfig.getInstance().sn, subTaskId, System.currentTimeMillis(),isFirst,isEnd)
+        d(SceneConstant.M_SWEEPER + TAG, "subTaskStart：" + GsonUtil.jsonFromObject(subStartRequest))
        mService.subTaskStart(
            MoGoAiCloudClientConfig.getInstance().serviceAppId,
            MoGoAiCloudClientConfig.getInstance().token,
@@ -92,6 +98,7 @@ object SweeperServiceManager {
    @JvmStatic
    fun subTaskEnd(isFirst:Boolean,isEnd:Boolean,subTaskId: Int,context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
        val subStartRequest = SubStartRequest(MoGoAiCloudClientConfig.getInstance().sn, subTaskId, System.currentTimeMillis(),isFirst,isEnd)
+        d(SceneConstant.M_SWEEPER + TAG, "subTaskEnd：" + GsonUtil.jsonFromObject(subStartRequest))
        mService.subTaskEnd(
            MoGoAiCloudClientConfig.getInstance().serviceAppId,
            MoGoAiCloudClientConfig.getInstance().token,
@@ -107,6 +114,7 @@ object SweeperServiceManager {
    @JvmStatic
    fun subTaskSkip(isFirst:Boolean,isEnd:Boolean,subTaskId: Int,context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
        val subStartRequest = SubStartRequest(MoGoAiCloudClientConfig.getInstance().sn, subTaskId, System.currentTimeMillis(),isFirst,isEnd)
+        d(SceneConstant.M_SWEEPER + TAG, "subTaskSkip：" + GsonUtil.jsonFromObject(subStartRequest))
        mService.subTaskSkip(
            MoGoAiCloudClientConfig.getInstance().serviceAppId,
            MoGoAiCloudClientConfig.getInstance().token,
--- 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
@@ -36,6 +36,7 @@ import com.mogo.och.sweeper.util.SweeperTrajectoryManager;

 import org.jetbrains.annotations.NotNull;

+import java.util.ArrayList;
 import java.util.List;

 import androidx.annotation.NonNull;
@@ -238,7 +239,9 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
    public void onStartAdasFailure() {

    }
-
+    public void onArriveTaskEnd(@Nullable MessagePad.ArrivalNotification arrivalNotification){
+        SweeperTaskModel.getInstance().onArriveTaskEnd(arrivalNotification);
+    }
    @Override
    public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
        if (cleanSystemState==null){
@@ -334,7 +337,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
        weltDataBean.setCleanIntensity(roboSweeperTaskIndex.getCleanIntensity());
        weltDataBean.setSubTaskId(mSubTaskId);
        MyDataBase.getInstance().getWeltDataDao().insert(weltDataBean);
-        mView.setWeltDataToMap(MyDataBase.getInstance().getWeltDataDao().loadAllWeltDataInfo());
+        mView.setWeltDataToMap((ArrayList<WeltDataBean>) MyDataBase.getInstance().getWeltDataDao().loadAllWeltDataInfo(),true);
    }

    /**
@@ -368,13 +371,15 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
    /**
     * 开始任务
     */
-    public void startTask(boolean isFirst,boolean isEnd,int subTaskId, SubTaskTypeEnum subTaskType) {
+    public void startTask(boolean isFirst,boolean isEnd,int subTaskId, SubTaskTypeEnum subTaskType,int subTaskStatus) {
        if (SweeperTaskModel.getInstance().getSubWorking()) {//如果任务正在执行中，被人工接管后掉出自驾，则只重启自动驾驶
            if (subTaskType == SubTaskTypeEnum.AUTOPILOT_SUBTYPE) {
                SweeperTaskModel.getInstance().startAutopilot();
            }
        } else {
-            SweeperTaskModel.getInstance().subTaskStart(isFirst,isEnd,subTaskId, subTaskType);
+            if (subTaskStatus==1){//子任务未执行，则开始执行
+                SweeperTaskModel.getInstance().subTaskStart(isFirst,isEnd,subTaskId, subTaskType);
+            }
        }
 //        AutopilotControlParameters parameters = new AutopilotControlParameters();
 //        parameters.isSpeakVoice = true;
@@ -453,15 +458,4 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
    public void setSubTakDetail(@NonNull SweeperSubTaskDetailBean subTaskDetailBean, SubTaskTypeEnum subTaskTypeEnum) {
        mView.setSubTakDetail(subTaskDetailBean, subTaskTypeEnum);
    }
-
-    /**
-     * 导航去目的地
-     */
-    public void startNaviToStation(Boolean isVoicePlay, double startLat, double startLng, double endLat, double endLng) {
-        AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
-        NaviLatLng startNaviLatLng = new NaviLatLng(startLat, startLng);
-        NaviLatLng endNaviLatLng = new NaviLatLng(endLat, endLng);
-        AmapNaviToDestinationModel.getInstance(getContext()).initAMapNavi(startNaviLatLng, endNaviLatLng);
-        AmapNaviToDestinationModel.getInstance(getContext()).setVoiceIsMute(isVoicePlay);
-    }
 }
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SubTaskView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SubTaskView.kt
@@ -6,10 +6,8 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.sweeper.R
 import com.mogo.och.sweeper.bean.SubInfo
-import com.mogo.och.sweeper.bean.SweeperSubTaskBean
 import kotlinx.android.synthetic.main.sweeper_subtask_view.view.*

 /**
@@ -43,7 +41,7 @@ class SubTaskView : ConstraintLayout {
 //        }else{
 //            "${DateTimeUtil.secondsToMinuteStr(taskInfo.timeSpent/1000)}分钟"
 //        }
-        tvSubTaskDesc.text = "全程约${mileage}，预计耗时${taskInfo.timeSpent}"
+        tvSubTaskDesc.text = "全程约${mileage}，预计耗时${taskInfo.timeSpent}分钟"
        tvSubTaskName.setTextColor(if (isSelect) Color.parseColor("#3BD2FF") else Color.parseColor("#FFFFFF"))
        if (isSelect) {
            ivSubTaskSelect.visibility = View.VISIBLE
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperCurrentTaskInfoView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperCurrentTaskInfoView.kt
@@ -120,7 +120,8 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
                isFirstSubTask(),
                isLastSubTask(),
                it[mCurrentPosition].taskId,
-                if (it[mCurrentPosition].taskType == SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code) SubTaskTypeEnum.AUTOPILOT_SUBTYPE else SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE
+                if (it[mCurrentPosition].taskType == SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code) SubTaskTypeEnum.AUTOPILOT_SUBTYPE else SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE,
+                it[mCurrentPosition].taskStatus
            )
        }
    }
@@ -134,7 +135,7 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
     * 是否第一个子任务
     */
    private fun isLastSubTask():Boolean{
-        return mCurrentPosition == (listTask?.size ?: 0)
+        return mCurrentPosition == (listTask?.size?.minus(1))
    }
    /**
     * 填充数据
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
@@ -5,6 +5,7 @@ import android.graphics.Color
 import android.os.Bundle
 import android.util.AttributeSet
 import android.view.LayoutInflater
+import android.view.View
 import android.widget.ImageView
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.amap.api.maps.AMap
@@ -30,6 +31,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
    private var mPolyline: Polyline? = null
    private var colorList: MutableList<Int> = mutableListOf()
    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+    private var mFirst: Boolean = false

    //清扫车任务地图
    private val TAG = "WeltMapOverView"
@@ -48,7 +50,6 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
        initAMapView()
        // 注册定位监听
        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
-        setLegendData()
    }

    private fun initAMapView() {
@@ -158,28 +159,38 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
    /**
     * 清除所有标记和路线
     */
-    public fun clearAllMarkerAndPolyline() {
+    fun clearAllMarkerAndPolyline() {
        mPolyline?.remove()
        for (i in mLineMarkers.indices) {
            mLineMarkers[i]?.isVisible = false
            mLineMarkers[i]?.remove()
        }
        mLineMarkers.clear()
+        mFirst = false
+        showOrHiddenLegendData(false)
    }
+
    /**
     * 设置贴边数据
     */
-    fun setWeltData(weltData: MutableList<WeltDataBean>) {
-        this.mWeltData = weltData
-        for (i in mWeltData.indices) {
-            mCoordinatesLatLng.add(LatLng(mWeltData[i].locLat, mWeltData[i].locLon))
+    fun setWeltData(weltData: MutableList<WeltDataBean>?,isWeltData: Boolean) {
+        if (weltData != null) {
+            this.mWeltData.addAll(weltData)
+            for (i in mWeltData.indices) {
+                mCoordinatesLatLng.add(LatLng(mWeltData[i].locLat, mWeltData[i].locLon))
+            }
+        }
+        if (!mFirst&&isWeltData) {
+            mFirst = true
+            showOrHiddenLegendData(true)
        }
    }

    /**
     * 设置图例数据
     */
-    private fun setLegendData() {
+    private fun showOrHiddenLegendData(isShow: Boolean) {
+        groupLegend.visibility = if (isShow) View.VISIBLE else View.GONE
        sweeperLegend1.setData(R.drawable.sweeper_legend1, "a<10")
        sweeperLegend2.setData(R.drawable.sweeper_legend2, "0≤a<10")
        sweeperLegend3.setData(R.drawable.sweeper_legend3, "10≤a<20")
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
@@ -3,8 +3,11 @@ package com.mogo.och.sweeper.view
 import android.content.Context
 import android.graphics.Color
 import android.os.Bundle
+import android.os.Looper
 import android.util.AttributeSet
 import android.view.LayoutInflater
+import android.view.View
+import android.widget.ImageView
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.amap.api.maps.AMap
 import com.amap.api.maps.CameraUpdateFactory
@@ -14,6 +17,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Liste
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 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.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.sweeper.R
 import com.mogo.och.sweeper.database.bean.WeltDataBean
@@ -30,6 +34,7 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
    private var mPolyline: Polyline? = null
    private var colorList: MutableList<Int> = mutableListOf()
    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+    private var mFirst: Boolean = false

    //清扫车任务地图
    private val TAG = "WeltMapView"
@@ -153,6 +158,11 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     * 添加起点和终点的marker
     */
    fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
+        for (i in mLineMarkers.indices) {
+            mLineMarkers[i]?.isVisible = false
+            mLineMarkers[i]?.remove()
+        }
+        mLineMarkers.clear()
        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.start_maker_icon)))
        startMarker?.position = startPoint
        mLineMarkers.add(startMarker)
@@ -161,6 +171,17 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
        mLineMarkers.add(endMarker)
    }

+    private fun runOnUIThread(executor: Runnable?) {
+        if (executor == null) {
+            return
+        }
+        if (Looper.myLooper() != Looper.getMainLooper()) {
+            UiThreadHandler.post(executor)
+        } else {
+            executor.run()
+        }
+    }
+
    /**
     * 清除所有标记和路线
     */
@@ -171,15 +192,32 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
            mLineMarkers[i]?.remove()
        }
        mLineMarkers.clear()
+        mFirst = false
+        showOrHiddenWelt(false)
    }
+
+    fun getSwitchToBig(): ImageView = sweeperSwitchToBig
+
+    /**
+     * 显示或隐藏贴边
+     */
+    private fun showOrHiddenWelt(isShow: Boolean) {
+        taskProgressTv.visibility = if (isShow) View.VISIBLE else View.GONE
+        taskWeltDistanceTv.visibility = if (isShow) View.VISIBLE else View.GONE
+    }
+
    /**
     * 设置贴边数据
     */
-    fun setWeltData(weltData: MutableList<WeltDataBean>) {
+    fun setWeltData(weltData: MutableList<WeltDataBean>,isWeltData: Boolean) {
        this.mWeltData = weltData
        for (i in mWeltData.indices) {
            mCoordinatesLatLng.add(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(context, mWeltData[i].locLon, mWeltData[i].locLat))
        }
+        if (!mFirst&&isWeltData) {
+            showOrHiddenWelt(true)
+            mFirst = true
+        }
    }

    fun onCreateView(savedInstanceState: Bundle?) {
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
@@ -287,6 +287,15 @@
        android:textSize="30sp"
        app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
        app:layout_constraintTop_toBottomOf="@id/btnAutopilotEnable" />
+    <Button
+        android:id="@+id/btnEndTask"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:background="#ffffff"
+        android:text="结束子任务"
+        android:textSize="30sp"
+        app:layout_constraintRight_toRightOf="@id/btnAutopilotRunning"
+        app:layout_constraintTop_toBottomOf="@id/btnAutopilotRunning" />

    <androidx.constraintlayout.widget.Group
        android:id="@+id/groupTestPanel"
@@ -294,7 +303,7 @@
        android:layout_height="wrap_content"
        android:visibility="gone"
        app:constraint_referenced_ids="btnAutopilotDisable,btnAutopilotEnable
-        ,btnAutopilotRunning"
+        ,btnAutopilotRunning,btnEndTask"
        tools:visibility="visible" />


--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_map_overview.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_map_overview.xml
@@ -2,7 +2,8 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
-    xmlns:app="http://schemas.android.com/apk/res-auto">
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools">
    <com.amap.api.maps.TextureMapView
        android:id="@+id/sweeperTextureMapView"
        android:layout_width="match_parent"
@@ -17,6 +18,7 @@
        android:layout_marginEnd="@dimen/dp_50"
        android:layout_marginTop="@dimen/dp_50"/>
    <com.mogo.och.common.module.wigets.OCHRoundConstraintLayout
+        android:id="@+id/groupLegend"
        android:layout_width="@dimen/dp_366"
        android:layout_height="@dimen/dp_573"
        app:layout_constraintBottom_toBottomOf="parent"
@@ -24,7 +26,8 @@
        android:layout_marginBottom="@dimen/dp_80"
        android:layout_marginEnd="@dimen/dp_80"
        app:roundLayoutRadius="@dimen/dp_16"
-        android:background="#0E1D38">
+        android:background="#0E1D38"
+        android:visibility="gone">
        <TextView
            android:id="@+id/taskProgressTv"
            android:layout_width="0dp"
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_small_map_view.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_welt_small_map_view.xml
@@ -2,7 +2,8 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="match_parent"
    android:layout_height="wrap_content"
-    xmlns:app="http://schemas.android.com/apk/res-auto">
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools">
    <com.amap.api.maps.TextureMapView
        android:id="@+id/sweeperSmallTextureMapView"
        android:layout_width="match_parent"
@@ -12,7 +13,7 @@
        app:layout_constraintStart_toStartOf="parent"
        app:layout_constraintEnd_toEndOf="parent"/>
    <ImageView
-        android:id="@+id/sweeper_switch_to_big"
+        android:id="@+id/sweeperSwitchToBig"
        android:layout_width="@dimen/dp_45"
        android:layout_height="@dimen/dp_45"
        app:layout_constraintEnd_toEndOf="parent"
@@ -33,6 +34,7 @@
        android:paddingBottom="4dp"
        android:paddingLeft="6dp"
        android:paddingRight="6dp"
+        android:visibility="gone"
        />
    <TextView
        android:id="@+id/taskWeltDistanceTv"
@@ -46,5 +48,6 @@
        android:paddingTop="4dp"
        android:paddingBottom="4dp"
        android:paddingLeft="6dp"
-        android:paddingRight="6dp"/>
+        android:paddingRight="6dp"
+        android:visibility="gone"/>
 </androidx.constraintlayout.widget.ConstraintLayout>