diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperTaskDataToFragmentCallback.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperTaskDataToFragmentCallback.kt
index a028dc42ce..2677042385 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperTaskDataToFragmentCallback.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperTaskDataToFragmentCallback.kt
@@ -11,4 +11,5 @@ interface ISweeperTaskDataToFragmentCallback {
     fun clearAllMarkerAndPolyline()
     fun setProgress(progress:String)
     fun setTaskListCoordinatesLatLng(coordinatesLatLng: ArrayList<LatLng>)
+    fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng)
 }
\ No newline at end of file
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 7dffab403d..c6c6374cbd 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
@@ -92,6 +92,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     private DriverMsgBoxBubbleView mViewDriverMsgBoxBubble;
     private ArrayList<WeltDataBean> mWeltDataBeanList;//存储贴边数据
     private ArrayList<LatLng> mSubTaskCoordinates;//存储当前大任务的所有子任务起点和终点
+    // 当前子任务的终点坐标
+    protected LatLng mCurrentTaskEndStation;
     private ArrayList<SweeperRoutePlanningUpdateReqBean.Result> mRouteList;//存储任务的坐标轨迹
     private String mProgress;
     private ISweeperTaskDataToFragmentCallback mTaskDataToFragmentCallback;
@@ -415,8 +417,14 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         if (isShow) {
             mFlWeltMapOverView.setVisibility(View.VISIBLE);
             if (mWeltMapOverViewFragment == null) {
-                mWeltMapOverViewFragment = mWeltMapOverViewFragment.newInstance((IWeltMapSwitchToSmallCallback) this, mWeltDataBeanList,
-                        mSubTaskCoordinates, mRouteList, mProgress, (SweeperFragment) this);
+                mWeltMapOverViewFragment = mWeltMapOverViewFragment.newInstance(
+                        (IWeltMapSwitchToSmallCallback) this,
+                        mCurrentTaskEndStation,
+                        mWeltDataBeanList,
+                        mSubTaskCoordinates,
+                        mRouteList,
+                        mProgress,
+                        (SweeperFragment) this);
             }
             if (mWeltMapOverViewFragment.isHidden()) {
                 transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
@@ -476,6 +484,15 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         }
     }
 
+    public void setCurrentTaskEndMarker(LatLng subTaskCoordinate) {
+        if (mMapWeltView != null) {
+            mMapWeltView.setCurrentTaskCoordinatesLatLng(subTaskCoordinate);
+        }
+        if (mTaskDataToFragmentCallback != null) {
+            mTaskDataToFragmentCallback.setCurrentTaskCoordinatesLatLng(subTaskCoordinate);
+        }
+    }
+
     /**
      * 清除marker标记和任务路线数据
      */
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 bebe00b9f0..754b92b4a6 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
@@ -52,7 +52,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     private var mLocation: MogoLocation? = null
     private var mSubInfo: SubInfo? = null
 
-    //当前经纬度
     override fun getTagName(): String {
         return "SweepersFragment"
     }
@@ -312,7 +311,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 }
             }
         }
-
+        setEndStationMarker()
     }
 
     /**
@@ -354,13 +353,14 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 for (index in it.indices) {
                     sum += it[index].mileage
                 }
-                var current: Double = 0.0
+                var completed: Double = 0.0
                 for (index in it.indices) {
-                    if (index <= mCurrentSubPosition) {
-                        current += it[index].mileage
+                    if (index < mCurrentSubPosition) {
+                        // 已完成的子任务记入完成度，进行中的不计入
+                        completed += it[index].mileage
                     }
                 }
-                val progress = "${((current / sum) * 100.0).roundToInt()}%"
+                val progress = "${((completed / sum) * 100.0).roundToInt()}%"
                 setTaskProgress(progress)
             }
 
@@ -430,7 +430,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     }
 
     /**
-     * 是否第一个子任务
+     * 是否最后一个子任务
      */
     fun isLastSubTask(): Boolean {
         return mCurrentSubPosition == (mSubMutableList?.size?.minus(1))
@@ -476,10 +476,27 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                     dataList.add(index+1,endLatLng)
                 }
                 setTaskListCoordinatesLatLng(dataList)
+                setEndStationMarker()
             }
         }
     }
 
+    private fun setEndStationMarker(){
+        lifecycleScope.launch(Dispatchers.IO) {
+            mSubInfo?.let {
+                val endPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
+                    AbsMogoApplication.getApp(),
+                    it.endWgs84Lon,
+                    it.endWgs84Lat
+                )
+                super.mCurrentTaskEndStation = endPoint
+                setCurrentTaskEndMarker(endPoint)
+            }
+        }
+    }
+
+
+
     //模拟结束子任务
     override fun debugEndSubTask() {
         //mPresenter?.onArriveTaskEnd(null)
diff --git 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
index 451041752b..1b160314b7 100644
--- 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
@@ -41,12 +41,16 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
         val bundle = arguments
         if (bundle != null) {
             val latLngs = bundle.getSerializable("subTaskCoordinates") as? ArrayList<LatLng>
+            val latLng = bundle.getParcelable<LatLng>("subTaskEndCoordinates")
             val weltDataList = bundle.getSerializable("weltDataList") as? ArrayList<WeltDataBean>
             val routeList = bundle.getSerializable("routeList") as? ArrayList<SweeperRoutePlanningUpdateReqBean.Result>
             val progress = bundle.getString("progress")
             routeList?.let {
                 weltMapOverView.setRouteList(it)
             }
+            latLng?.let {
+                setCurrentTaskCoordinatesLatLng(it)
+            }
             latLngs?.let {
                 setTaskListCoordinatesLatLng(it)
             }
@@ -64,6 +68,7 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
         @JvmStatic
         fun newInstance(
             mIWeltMapSwitchToSmallCallBack: IWeltMapSwitchToSmallCallback,
+            mCurrentTaskEndStation:LatLng?,
             weltDataList: ArrayList<WeltDataBean>?,
             latLngs: ArrayList<LatLng>?,
             routeList: ArrayList<SweeperRoutePlanningUpdateReqBean.Result>?,
@@ -73,6 +78,7 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
             val args = Bundle()
             args.putSerializable("weltDataList", weltDataList)
             args.putSerializable("subTaskCoordinates", latLngs)
+            args.putParcelable("subTaskEndCoordinates", mCurrentTaskEndStation)
             args.putSerializable("routeList", routeList)
             args.putString("progress", progress)
             val fragment = WeltMapOverViewFragment()
@@ -101,6 +107,10 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
         weltMapOverView.setTaskListCoordinatesLatLng(coordinatesLatLng)
     }
 
+    override fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
+        weltMapOverView.setCurrentTaskCoordinatesLatLng(coordinatesLatLng)
+    }
+
     override fun clearAllMarkerAndPolyline() {
         weltMapOverView.clearAllMarkerAndPolyline()
     }
diff --git 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
index b0cb70a794..694381dc3d 100644
--- 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
@@ -750,7 +750,8 @@ 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));
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "subTaskEnd：" +
+                        String.format("isFirst=%b; isEnd=%b; ", isFirst, isEnd) + GsonUtil.jsonFromObject(data));
                 if (data != null) {
                     if (data.getData()) {
                         mIsSubTaskWorking = false;
@@ -800,7 +801,8 @@ 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));
+                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "subTaskSkip：" +
+                        String.format("isFirst=%b; isEnd=%b; ", isFirst, isEnd)+ GsonUtil.jsonFromObject(data));
                 if (mSweeperTaskCallback != null && data != null) {
                     if (data.getData()) {
                         mIsSubTaskWorking = false;
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 5abceafdce..b94e98bd2c 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
@@ -350,7 +350,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
             weltDataBean.setCleanIntensity(roboSweeperTaskIndex.getCleanIntensity());
             weltDataBean.setSubTaskId(mSubTaskId);
             MyDataBase.getInstance().getWeltDataDao().insert(weltDataBean);
-            String distance = format(roboSweeperTaskIndex.getDistToRefEdgePoint() * 100);
+            String distance = String.valueOf((Math.round(roboSweeperTaskIndex.getDistToRefEdgePoint() * 100)));//m->cm 四舍五入到整数
             mView.setWeltDataToMap((ArrayList<WeltDataBean>) MyDataBase.getInstance().getWeltDataDao().loadAllWeltDataInfo(), true, distance);
         }
     }
diff --git 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
index 9f68431cb2..22e0e73042 100644
--- 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
@@ -8,6 +8,7 @@ import android.view.LayoutInflater
 import android.view.View
 import android.widget.ImageView
 import androidx.constraintlayout.widget.ConstraintLayout
+import androidx.core.content.ContextCompat
 import com.amap.api.maps.AMap
 import com.amap.api.maps.CameraUpdateFactory
 import com.amap.api.maps.model.*
@@ -33,7 +34,8 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     private var mAMap: AMap? = null
     private var mWeltPolylines: Polyline? = null
     private var mRoutePolylines: Polyline?=null
-    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+//    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+    private var mEndStationMarker: Marker? = null
     private var mFirst: Boolean = false
 
     //清扫车任务地图
@@ -122,17 +124,17 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
                 }
             }
             if (weltDataBean.weltDistance == -9999.0) {//未经过
-                colorList.add(Color.parseColor("#3BA1CC"))
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_3ba1cc))
             } else if (weltDataBean.weltDistance == -10000.0) {//非贴边
-                colorList.add(Color.parseColor("#236299"))
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_236299))
             } else if (weltDataBean.weltDistance < 0) {
-                colorList.add(Color.parseColor("#C22101"))
-            } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 10) {
-                colorList.add(Color.parseColor("#4DFFA4"))
-            } else if (weltDataBean.weltDistance >= 10 && weltDataBean.weltDistance < 20) {
-                colorList.add(Color.parseColor("#FFDD4D"))
-            } else if (weltDataBean.weltDistance >= 20) {
-                colorList.add(Color.parseColor("#FF912B"))
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_c22101))
+            } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 0.01) {
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_4dffa4))
+            } else if (weltDataBean.weltDistance >= 0.010 && weltDataBean.weltDistance < 0.020) {
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_ffdd4d))
+            } else if (weltDataBean.weltDistance >= 0.020) {
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_ff912b))
             }
         }
         return colorList
@@ -191,25 +193,32 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
      * 绘制起点和终点的marker
      */
     private fun drawStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
-        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_start_maker_icon)))
-        startMarker?.position = startPoint
-        mLineMarkers.add(startMarker)
-        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_end_maker_icon)))
-        endMarker?.position = endPoint
-        mLineMarkers.add(endMarker)
+//        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_start_maker_icon)))
+//        startMarker?.position = startPoint
+//        mLineMarkers.add(startMarker)
+//        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_end_maker_icon)))
+//        endMarker?.position = endPoint
+//        mLineMarkers.add(endMarker)
+    }
+
+    private fun drawEndMarker(endPoint: LatLng){
+        mEndStationMarker?.remove()
+        mEndStationMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_end_maker_icon)))
+        mEndStationMarker?.position = endPoint
     }
 
     /**
      * 清除所有标记和路线
      */
     fun clearAllMarkerAndPolyline() {
-        for (i in mLineMarkers.indices) {
-            mLineMarkers[i]?.isVisible = false
-            mLineMarkers[i]?.remove()
-        }
+//        for (i in mLineMarkers.indices) {
+//            mLineMarkers[i]?.isVisible = false
+//            mLineMarkers[i]?.remove()
+//        }
+        mEndStationMarker?.remove()
         mWeltPolylines?.remove()
         mRoutePolylines?.remove()
-        mLineMarkers.clear()
+//        mLineMarkers.clear()
         //mFirst = false
         //showOrHiddenLegendData(false)
     }
@@ -264,6 +273,14 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
             }
         }
     }
+    /**
+     * 设置当前大任务的所有子任务起终点集合
+     */
+    fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
+        ThreadUtils.runOnUiThread {
+            drawEndMarker(coordinatesLatLng)
+        }
+    }
 
     /**
      * 设置图例数据
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 ff1b71a91c..bf9b0a4309 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
@@ -8,6 +8,7 @@ import android.view.LayoutInflater
 import android.view.View
 import android.widget.ImageView
 import androidx.constraintlayout.widget.ConstraintLayout
+import androidx.core.content.ContextCompat
 import com.amap.api.maps.AMap
 import com.amap.api.maps.CameraUpdateFactory
 import com.amap.api.maps.model.*
@@ -34,7 +35,8 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     private var mAMap: AMap? = null
     private var mWeltPolylines: Polyline? = null
     private var mRoutePolylines: Polyline?=null
-    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+//    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+    private var endStationMarker:Marker? = null
 
     //清扫车任务地图
     private val TAG = "WeltMapView"
@@ -145,7 +147,7 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
                 mWeltPolylines?.remove()
                 val polylineOptions = PolylineOptions()
                 polylineOptions.addAll(coordinatesLatLngs)
-                polylineOptions.width(30f) //线段宽度
+                polylineOptions.width(14f) //线段宽度
                 polylineOptions.isUseTexture = false
                 polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapSquare)
                 polylineOptions.colorValues(colorList)
@@ -178,17 +180,17 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
             }
 
             if (weltDataBean.weltDistance == -9999.0) {//未经过
-                colorList.add(Color.parseColor("#3BA1CC"))
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_3ba1cc))
             } else if (weltDataBean.weltDistance == -10000.0) {//非贴边
-                colorList.add(Color.parseColor("#236299"))
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_236299))
             } else if (weltDataBean.weltDistance < 0) {
-                colorList.add(Color.parseColor("#C22101"))
-            } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 10) {
-                colorList.add(Color.parseColor("#4DFFA4"))
-            } else if (weltDataBean.weltDistance >= 10 && weltDataBean.weltDistance < 20) {
-                colorList.add(Color.parseColor("#FFDD4D"))
-            } else if (weltDataBean.weltDistance >= 20) {
-                colorList.add(Color.parseColor("#FF912B"))
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_c22101))
+            } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 0.010) {
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_4dffa4))
+            } else if (weltDataBean.weltDistance >= 0.010 && weltDataBean.weltDistance < 0.020) {
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_ffdd4d))
+            } else if (weltDataBean.weltDistance >= 0.020) {
+                colorList.add(ContextCompat.getColor(context,R.color.sweeper_ff912b))
             }
         }
         return colorList
@@ -198,17 +200,17 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
      * 添加起点和终点的marker
      */
     private 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.sweeper_small_start_marker_icon)))
-        startMarker?.position = startPoint
-        mLineMarkers.add(startMarker)
-        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
-        endMarker?.position = endPoint
-        mLineMarkers.add(endMarker)
+//        for (i in mLineMarkers.indices) {
+//            mLineMarkers[i]?.isVisible = false
+//            mLineMarkers[i]?.remove()
+//        }
+//        mLineMarkers.clear()
+//        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_start_marker_icon)))
+//        startMarker?.position = startPoint
+//        mLineMarkers.add(startMarker)
+//        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
+//        endMarker?.position = endPoint
+//        mLineMarkers.add(endMarker)
     }
 
     /**
@@ -216,25 +218,35 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
      */
     fun setTaskListCoordinatesLatLng(coordinatesLatLng: MutableList<LatLng>) {
         this.mTaskCoordinatesLatLng = coordinatesLatLng
-        if (mTaskCoordinatesLatLng.size > 0) {
-            d(
-                SceneConstant.M_SWEEPER + TAG,
-                "startPoint：${mTaskCoordinatesLatLng[0]} endPoint：${mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1]}"
-            )
-            addStartAndEndMarker(mTaskCoordinatesLatLng[0], mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1])
-        }
+//        if (mTaskCoordinatesLatLng.size > 0) {
+//            d(
+//                SceneConstant.M_SWEEPER + TAG,
+//                "startPoint：${mTaskCoordinatesLatLng[0]} endPoint：${mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1]}"
+//            )
+//            addStartAndEndMarker(mTaskCoordinatesLatLng[0], mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1])
+//        }
+    }
+
+    /**
+     * 设置当前大任务的所有子任务起终点集合
+     */
+    fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
+        endStationMarker?.remove()
+        endStationMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
+        endStationMarker?.position = coordinatesLatLng
     }
 
     /**
      * 清除所有标记和路线
      */
     fun clearAllMarkerAndPolyline() {
-        for (i in mLineMarkers.indices) {
-            mLineMarkers[i]?.isVisible = false
-            mLineMarkers[i]?.remove()
-        }
+//        for (i in mLineMarkers.indices) {
+//            mLineMarkers[i]?.isVisible = false
+//            mLineMarkers[i]?.remove()
+//        }
+        endStationMarker?.remove()
         mWeltPolylines?.remove()
-        mLineMarkers.clear()
+//        mLineMarkers.clear()
         mRoutePolylines?.remove()
         //mFirst = false
         //showOrHiddenWelt(false)
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_task_menu.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_task_menu.xml
index 6497f4511d..f62a58d93c 100644
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_task_menu.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_task_menu.xml
@@ -32,14 +32,15 @@
         android:text="跳过"
         android:textColor="#A6CEFF"
         android:textSize="@dimen/dp_30"
-        android:layout_marginTop="@dimen/dp_16"/>
+        android:padding="@dimen/dp_10"
+        android:layout_marginTop="@dimen/dp_6"/>
     <View
         android:id="@+id/taskJumpLineView"
         android:layout_width="0dp"
         android:layout_height="2dp"
         app:layout_constraintStart_toEndOf="@+id/ivTriangle"
         app:layout_constraintEnd_toEndOf="parent"
-        android:layout_marginTop="@dimen/dp_20"
+        android:layout_marginTop="@dimen/dp_10"
         android:background="#4DA6CEFF"
         app:layout_constraintTop_toBottomOf="@+id/tvJumpOverTask"
         android:layout_marginStart="@dimen/dp_16"
@@ -54,14 +55,15 @@
         android:text="结束"
         android:textColor="#A6CEFF"
         android:textSize="@dimen/dp_30"
-        android:layout_marginTop="@dimen/dp_16"/>
+        android:padding="@dimen/dp_10"
+        android:layout_marginTop="@dimen/dp_6"/>
     <View
         android:id="@+id/taskFinishLineView"
         android:layout_width="0dp"
         android:layout_height="2dp"
         app:layout_constraintStart_toEndOf="@+id/ivTriangle"
         app:layout_constraintEnd_toEndOf="parent"
-        android:layout_marginTop="@dimen/dp_20"
+        android:layout_marginTop="@dimen/dp_10"
         android:background="#4DA6CEFF"
         app:layout_constraintTop_toBottomOf="@+id/tvEndTask"
         android:layout_marginStart="@dimen/dp_16"
@@ -76,10 +78,11 @@
         android:text="取消"
         android:textColor="#A6CEFF"
         android:textSize="@dimen/dp_30"
-        android:layout_marginTop="@dimen/dp_16"/>
+        android:padding="@dimen/dp_10"
+        android:layout_marginTop="@dimen/dp_6"/>
     <Space
         android:layout_width="0dp"
-        android:layout_height="@dimen/dp_16"
+        android:layout_height="@dimen/dp_6"
         app:layout_constraintStart_toEndOf="@+id/ivTriangle"
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintTop_toBottomOf="@+id/tvCancelTask"/>
diff --git 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
index 980fd8c76f..16a9957c97 100644
--- 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
@@ -10,13 +10,14 @@
         android:layout_height="match_parent"/>
     <ImageView
         android:id="@+id/sweeperSwitchToSmall"
-        android:layout_width="@dimen/dp_73"
-        android:layout_height="@dimen/dp_73"
+        android:layout_width="@dimen/dp_127"
+        android:layout_height="@dimen/dp_127"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintEnd_toEndOf="parent"
         android:src="@drawable/sweeper_full_screen_icon"
-        android:layout_marginEnd="@dimen/dp_50"
-        android:layout_marginTop="@dimen/dp_50"/>
+        android:layout_marginEnd="@dimen/dp_23"
+        android:layout_marginTop="@dimen/dp_23"
+        android:padding="@dimen/dp_27"/>
     <com.mogo.och.common.module.wigets.OCHRoundConstraintLayout
         android:id="@+id/groupLegend"
         android:layout_width="@dimen/dp_380"
@@ -36,7 +37,7 @@
             app:layout_constraintStart_toStartOf="parent"
             app:layout_constraintTop_toTopOf="parent"
             android:background="#3f69d9"
-            android:textColor="@color/white"
+            android:textColor="@android:color/white"
             android:paddingTop="4dp"
             android:paddingBottom="4dp"
             android:paddingLeft="6dp"
@@ -50,11 +51,11 @@
             android:id="@+id/taskWeltDistanceTv"
             android:layout_width="0dp"
             android:layout_height="wrap_content"
-            android:text="贴边:0.0cm"
+            android:text="贴边:--cm"
             app:layout_constraintTop_toTopOf="parent"
             app:layout_constraintEnd_toEndOf="parent"
             android:background="#3d98c7"
-            android:textColor="@color/white"
+            android:textColor="@android:color/white"
             app:layout_constraintStart_toEndOf="@+id/taskProgressTv"
             android:paddingTop="4dp"
             android:paddingBottom="4dp"
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 6433b172de..515958f87d 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
@@ -14,14 +14,13 @@
         app:layout_constraintEnd_toEndOf="parent"/>
     <ImageView
         android:id="@+id/sweeperSwitchToBig"
-        android:layout_width="@dimen/dp_60"
-        android:layout_height="@dimen/dp_60"
+        android:layout_width="@dimen/dp_100"
+        android:layout_height="@dimen/dp_100"
         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:padding="@dimen/dp_10"/>
+
+        android:padding="@dimen/dp_30"/>
     <TextView
         android:id="@+id/taskProgressTv"
         android:layout_width="wrap_content"
@@ -30,7 +29,7 @@
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent"
         android:background="#3f69d9"
-        android:textColor="@color/white"
+        android:textColor="@android:color/white"
         android:paddingTop="4dp"
         android:paddingBottom="4dp"
         android:paddingLeft="6dp"
@@ -41,10 +40,10 @@
         android:id="@+id/taskWeltDistanceTv"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:text="贴边:0.0cm"
+        android:text="贴边:--cm"
         app:layout_constraintTop_toTopOf="parent"
         android:background="#3d98c7"
-        android:textColor="@color/white"
+        android:textColor="@android:color/white"
         app:layout_constraintStart_toEndOf="@+id/taskProgressTv"
         android:paddingTop="4dp"
         android:paddingBottom="4dp"
diff --git a/OCH/mogo-och-sweeper/src/main/res/values/colors.xml b/OCH/mogo-och-sweeper/src/main/res/values/colors.xml
index da862b9270..996be7663a 100644
--- a/OCH/mogo-och-sweeper/src/main/res/values/colors.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/values/colors.xml
@@ -50,4 +50,16 @@
     <color name="sweeper_operate_panel_btn2_bg_disabled">#3769B5</color>
     <color name="sweeper_operate_panel_btn2_bg_stroke">#BF30334C</color>
 
+    <!-- <0 //未经过-->
+    <color name="sweeper_c22101">#C22101</color>
+    <!-- [0,10) //未经过-->
+    <color name="sweeper_4dffa4">#4DFFA4</color>
+    <!-- [10,20) //未经过-->
+    <color name="sweeper_ffdd4d">#FFDD4D</color>
+    <!-- [20,) //未经过-->
+    <color name="sweeper_ff912b">#FF912B</color>
+    <!-- -9999.0 //未经过-->
+    <color name="sweeper_3ba1cc">#3BA1CC</color>
+    <!-- -10000.0 //非贴边-->
+    <color name="sweeper_236299">#236299</color>
 </resources>
\ No newline at end of file