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 abbc296219..925c3e4d92 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
@@ -2,6 +2,7 @@ package com.mogo.och.sweeper.fragment;
 
 import android.os.Bundle;
 import android.view.LayoutInflater;
+import android.view.MotionEvent;
 import android.view.View;
 import android.widget.FrameLayout;
 import android.widget.ImageView;
@@ -43,6 +44,7 @@ import org.greenrobot.eventbus.EventBus;
 import java.util.ArrayList;
 
 import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.Group;
 import androidx.fragment.app.FragmentTransaction;
 
@@ -54,7 +56,7 @@ import androidx.fragment.app.FragmentTransaction;
  * @author tongchenfei
  */
 public abstract class BaseSweeperTabFragment<V extends IView, P extends Presenter<V>> extends MvpFragment<V, P> implements IMogoMapListener,
-        View.OnClickListener, IWeltMapSwitchToSmallCallback {
+        View.OnClickListener, IWeltMapSwitchToSmallCallback,View.OnTouchListener {
 
     private static final String TAG = "BaseSweeperTabFragment";
     //地图放大缩小
@@ -99,6 +101,11 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
 
     private View panelView;
 
+    @Override
+    public boolean onTouch(View v, MotionEvent event) {
+        return true;
+    }
+
     @Override
     protected void initViews() {
         mapBizView = findViewById(R.id.mapBizView);
@@ -235,6 +242,13 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         CallerAutopilotRecordListenerManager.INSTANCE.removeListener(TAG);
     }
 
+    @Override
+    public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
+        super.onViewCreated(view, savedInstanceState);
+        view.setOnTouchListener(this);
+
+    }
+
     private void initListener() {
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().registerHostMapListener(TAG, this);
         mCloseNavIcon.setOnClickListener(this);
diff --git 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
index e70878b2b3..2968b4a8ad 100644
--- 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
@@ -9,6 +9,7 @@ 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.eagle.core.utilcode.util.ClickUtils
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.sweeper.R
 import com.mogo.och.sweeper.bean.SubInfo
@@ -23,7 +24,6 @@ import com.mogo.och.sweeper.ui.adapter.TaskListAdapter
 import com.mogo.och.sweeper.ui.dialog.SweeperManualDrivingDialog
 import com.mogo.och.sweeper.ui.dialog.SweeperNoTitleCommonDialog
 import com.mogo.och.sweeper.ui.popwindow.MenuPopWindow
-import com.mogo.och.sweeper.util.SweeperFutianCmdUtil
 import kotlinx.android.synthetic.main.fragment_och_sweeper.*
 import kotlinx.android.synthetic.main.sweeper_current_task_info.view.*
 import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
@@ -47,6 +47,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     private var mMainTask: SweeperMainTaskBean? = null
     private var mLocation: MogoLocation? = null
     private var mSubInfo: SubInfo? = null
+    private var isFinished:Boolean=true
 
     //当前经纬度
     override fun getTagName(): String {
@@ -64,14 +65,16 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         initListener()
         sweeper_cl_work_mode.setTrafficDataView(trafficDataView)
         sweeper_current_task_view.readyTaskBtn.setOnClickListener{
-            if(mSubTaskType.code==SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.code){
-                manualDriving(mSubInfo)
-            }else{
-                //开始执行任务
-                mSubInfo?.apply {
-                    presenter?.startTask(isFirstSubTask(), isLastSubTask(), taskId, mSubTaskType, taskStatus)
-                }
+            if (ClickUtils.isFastClick()){//防止重复点击
+                if(mSubTaskType.code==SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.code){
+                    manualDriving(mSubInfo)
+                }else{
+                    //开始执行任务
+                    mSubInfo?.apply {
+                        presenter?.startTask(isFirstSubTask(), isLastSubTask(), taskId, mSubTaskType, taskStatus)
+                    }
 
+                }
             }
         }
     }
@@ -256,6 +259,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         }
         when (typeEnum.code) {
             TaskStatusEnum.END_SUBTASK.code -> {//子任务结束
+                isFinished=false
                 mCurrentSubPosition++
                 setSubTaskData()
                 d(SceneConstant.M_SWEEPER + TAG, "END_SUBTASK mCurrentSubPosition：$mCurrentSubPosition")
@@ -290,7 +294,9 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             TaskStatusEnum.START_SUBTASK.code -> { //子任务开始
                 setTaskBtn(true)
                 sweeper_current_task_view.setTaskStatus(2)
-                sweeper_current_task_view.setCurrentData(mCurrentSubPosition)
+                if (mSubTaskType==SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE){
+                    sweeper_current_task_view.setCurrentData(mCurrentSubPosition)
+                }
             }
         }
 
@@ -491,13 +497,12 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 
     //模拟结束子任务
     override fun debugEndSubTask() {
-//        mSubInfo?.let {
-//            mPresenter?.onArriveTaskEnd(null)
-//        }
-        lifecycleScope.launch(Dispatchers.IO) {
-            while (true) {
-                onSweeperFutianCleanSystemState(SweeperFutianCmdUtil.buildSweeperFuTionCleanSystemStateMockData())
-                delay(500)
+        lifecycleScope.launch(Dispatchers.IO){
+            while (isFinished){
+                mSubInfo?.let {
+                    mPresenter?.onArriveTaskEnd(null)
+                }
+                delay(100)
             }
         }
     }
diff --git 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
index 8cee63abbb..d94b6c8f01 100644
--- 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
@@ -6,6 +6,7 @@ import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.utilcode.util.ClickUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.sweeper.R
@@ -42,15 +43,17 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
         LayoutInflater.from(context).inflate(R.layout.sweeper_current_task_info, this)
         setEnableClickBtn(false)
         tvStartAuto.setOnClickListener {
-            if (mSubTaskStatus==1){
-                ToastUtils.showLong("任务未开始无轨迹，无法启动自驾")
-                return@setOnClickListener
+            if (ClickUtils.isFastClick()){//防止重复点击
+                if (mSubTaskStatus==1){
+                    ToastUtils.showLong("任务未开始无轨迹，无法启动自驾")
+                    return@setOnClickListener
+                }
+                if (mSubTaskType==SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE){
+                    ToastUtils.showLong("人工子任务无轨迹，无法启动自驾")
+                    return@setOnClickListener
+                }
+                presenter?.startAutopilot()
             }
-            if (mSubTaskType==SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE){
-                ToastUtils.showLong("人工子任务无轨迹，无法启动自驾")
-                return@setOnClickListener
-            }
-            presenter?.startAutopilot()
         }
     }
 
diff --git 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
index d837ce78ae..141602f106 100644
--- 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
@@ -170,18 +170,6 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
         endMarker?.position = endPoint
         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
      */
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_btn.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_btn.xml
new file mode 100644
index 0000000000..9307ba16bd
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_btn.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+<item android:state_selected="false" android:drawable="@drawable/sweeper_task_list_not_selected"/>
+<item android:state_selected="true"  android:drawable="@drawable/sweeper_task_list_selected"/>
+</selector>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_not_selected.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_not_selected.xml
new file mode 100644
index 0000000000..d534c3b4e2
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_not_selected.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#254e7d" />
+    <corners
+        android:bottomRightRadius="30dp" android:bottomLeftRadius="@dimen/dp_30"/>
+</shape>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_selected.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_selected.xml
new file mode 100644
index 0000000000..c8aa6168ec
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_selected.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item>
+        <shape android:shape="rectangle">
+
+            <corners android:bottomRightRadius="30dp" android:bottomLeftRadius="@dimen/dp_30"/>
+            <gradient android:angle="180" android:endColor="#004DFF" android:startColor="#20AAFF" />
+        </shape>
+    </item>
+</selector>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/fragment_och_sweeper.xml b/OCH/mogo-och-sweeper/src/main/res/layout/fragment_och_sweeper.xml
index 9ed1558350..ba1267bdd7 100644
--- a/OCH/mogo-och-sweeper/src/main/res/layout/fragment_och_sweeper.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/fragment_och_sweeper.xml
@@ -103,7 +103,7 @@
                 android:id="@+id/tvTaskConfirm"
                 android:layout_width="match_parent"
                 android:layout_height="@dimen/dp_116"
-                android:background="@drawable/sweeper_task_btn"
+                android:background="@drawable/sweeper_task_list_btn"
                 app:layout_constraintBottom_toBottomOf="parent"
                 app:layout_constraintStart_toStartOf="parent"
                 app:layout_constraintEnd_toEndOf="parent"
diff --git 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
index 7703413398..cc13765415 100644
--- 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
@@ -5,7 +5,8 @@
     android:id="@+id/sweeper_root_View"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:layout_marginTop="@dimen/dp_72">
+    android:layout_marginTop="@dimen/dp_72"
+    android:clickable="true">
 
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
diff --git 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
index 50d79a3f7b..854bed4e60 100644
--- 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
@@ -14,13 +14,14 @@
         app:layout_constraintEnd_toEndOf="parent"/>
     <ImageView
         android:id="@+id/sweeperSwitchToBig"
-        android:layout_width="@dimen/dp_45"
-        android:layout_height="@dimen/dp_45"
+        android:layout_width="@dimen/dp_60"
+        android:layout_height="@dimen/dp_60"
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintBottom_toBottomOf="parent"
         android:src="@drawable/sweeper_full_screen_icon"
         android:layout_marginEnd="@dimen/dp_20"
-        android:layout_marginBottom="@dimen/dp_20"/>
+        android:layout_marginBottom="@dimen/dp_20"
+        android:padding="@dimen/dp_10"/>
     <TextView
         android:id="@+id/taskProgressTv"
         android:layout_width="wrap_content"