diff --git a/OCH/mogo-och-sweeper/build.gradle b/OCH/mogo-och-sweeper/build.gradle
index 51769361c2..a1aa90420b 100644
--- a/OCH/mogo-och-sweeper/build.gradle
+++ b/OCH/mogo-och-sweeper/build.gradle
@@ -18,7 +18,7 @@ android {
 
         javaCompileOptions {
             annotationProcessorOptions {
-                arguments = [AROUTER_MODULE_NAME: project.getName()]
+                arguments = [AROUTER_MODULE_NAME: project.getName(),"room.schemaLocation": "$projectDir/schemas".toString()]
             }
         }
     }
@@ -53,6 +53,8 @@ dependencies {
     implementation rootProject.ext.dependencies.rxandroid
     implementation rootProject.ext.dependencies.androidxrecyclerview
     implementation rootProject.ext.dependencies.androidxcardview
+    implementation rootProject.ext.dependencies.androidxroomruntime
+    annotationProcessor rootProject.ext.dependencies.androidxroomcompiler
 
     implementation project(":OCH:mogo-och-common-module")
     compileOnly project(":libraries:mogo-map")
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/WeltDataBean.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/WeltDataBean.kt
deleted file mode 100644
index c0f6809f37..0000000000
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/WeltDataBean.kt
+++ /dev/null
@@ -1,10 +0,0 @@
-package com.mogo.och.sweeper.bean
-
-data class WeltDataBean(
-    var locLon: Double,//经度
-    var locLat: Double,//纬度
-    var weltDistance: Double,//贴边距离
-    var cleanMode: Int,//清扫模式
-    var cleanDirection: Int,//清扫方向
-    var cleanIntensity: Int,//作业强度
-)
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/constant/SweeperConst.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/constant/SweeperConst.kt
index ec51cbe709..9dbf2304af 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/constant/SweeperConst.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/constant/SweeperConst.kt
@@ -9,7 +9,8 @@ class SweeperConst {
     companion object {
 
         private const val BASE_URL_OCH_DEV = "http://tech-dev.zhidaohulian.com"
-        private const val BASE_URL_OCH_QA = "https://tech-qa.zhidaohulian.com"
+        //private const val BASE_URL_OCH_QA = "https://tech-qa.zhidaohulian.com"
+        private const val BASE_URL_OCH_QA = "http://sweep-dev.svc.zhidaoauto.com"
         private const val BASE_URL_OCH_RELEASE = "https://tech.zhidaohulian.com"
 
         @JvmStatic
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/MyDataBase.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/MyDataBase.java
new file mode 100644
index 0000000000..69b363a9b8
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/MyDataBase.java
@@ -0,0 +1,29 @@
+package com.mogo.och.sweeper.database;
+
+import com.mogo.commons.AbsMogoApplication;
+import com.mogo.och.sweeper.database.bean.WeltDataBean;
+import com.mogo.och.sweeper.database.dao.WeltDataDao;
+
+import androidx.room.Database;
+import androidx.room.Room;
+import androidx.room.RoomDatabase;
+
+//注解Database告诉系统这是Room数据库对象
+//entities指定该数据库有哪些表，多张表就逗号分隔
+//version指定数据库版本号，升级时需要用到
+//数据库继承自RoomDatabase
+@Database(entities = {WeltDataBean.class}, version = 1)
+public abstract class MyDataBase extends RoomDatabase {
+	private static final String DATABASE_NAME = "weltData_db";
+
+	//结合单例模式完成数据库实例创建
+	public static MyDataBase getInstance() {
+		return SingleTon.instance;
+	}
+
+	private static class SingleTon {
+		private static final MyDataBase instance =
+				Room.databaseBuilder(AbsMogoApplication.getApp().getApplicationContext(), MyDataBase.class, DATABASE_NAME).build();
+	}
+    public abstract WeltDataDao getWeltDataDao();
+}
diff --git 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
new file mode 100644
index 0000000000..8ca4a6d676
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/bean/WeltDataBean.java
@@ -0,0 +1,125 @@
+package com.mogo.och.sweeper.database.bean;
+
+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 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
+
+    @PrimaryKey(autoGenerate = true)
+
+    @ColumnInfo(name = "id", typeAffinity = ColumnInfo.INTEGER)
+
+    private int id;
+
+    @ColumnInfo(name = "subTaskId", typeAffinity = ColumnInfo.INTEGER)//子任务id
+
+    private int subTaskId;
+
+    @ColumnInfo(name = "locLon", typeAffinity = ColumnInfo.REAL)
+
+    private double locLon;//自车RTK定位经度
+
+    @ColumnInfo(name = "locLat", typeAffinity = ColumnInfo.REAL)
+
+    private double locLat;//自车RTK定位纬度
+
+    @ColumnInfo(name = "weltDistance", typeAffinity = ColumnInfo.REAL)
+
+    private double weltDistance;//贴边距离
+
+    @ColumnInfo(name = "cleanMode", typeAffinity = ColumnInfo.INTEGER)
+
+    private int cleanMode;//清扫作业模式 1–纯扫  2--洗扫, 3--纯洗, 4--纯吸
+
+    @ColumnInfo(name = "cleanDirection", typeAffinity = ColumnInfo.INTEGER)
+
+    private int cleanDirection;//清扫方向 1--两侧, 2--左侧, 3--右侧
+
+    @ColumnInfo(name = "cleanIntensity", typeAffinity = ColumnInfo.INTEGER)
+
+    private int cleanIntensity;//清扫强度 1--两侧, 2--左侧, 3--右侧
+
+    public int getId() {
+        return id;
+    }
+
+    public void setId(int id) {
+        this.id = id;
+    }
+
+    public int getSubTaskId() {
+        return subTaskId;
+    }
+
+    public void setSubTaskId(int subTaskId) {
+        this.subTaskId = subTaskId;
+    }
+
+    public double getLocLon() {
+        return locLon;
+    }
+
+    public void setLocLon(double locLon) {
+        this.locLon = locLon;
+    }
+
+    public double getLocLat() {
+        return locLat;
+    }
+
+    public void setLocLat(double locLat) {
+        this.locLat = locLat;
+    }
+
+    public double getWeltDistance() {
+        return weltDistance;
+    }
+
+    public void setWeltDistance(double weltDistance) {
+        this.weltDistance = weltDistance;
+    }
+
+    public int getCleanMode() {
+        return cleanMode;
+    }
+
+    public void setCleanMode(int cleanMode) {
+        this.cleanMode = cleanMode;
+    }
+
+    public int getCleanDirection() {
+        return cleanDirection;
+    }
+
+    public void setCleanDirection(int cleanDirection) {
+        this.cleanDirection = cleanDirection;
+    }
+
+    public int getCleanIntensity() {
+        return cleanIntensity;
+    }
+
+    public void setCleanIntensity(int cleanIntensity) {
+        this.cleanIntensity = cleanIntensity;
+    }
+
+    @Override
+    public String toString() {
+        return "WeltDataBean{" +
+                "id=" + id +
+                ", subTaskId='" + subTaskId + '\'' +
+                ", locLon=" + locLon +
+                ", locLat=" + locLat +
+                ", weltDistance=" + weltDistance +
+                ", cleanMode=" + cleanMode +
+                ", cleanDirection=" + cleanDirection +
+                ", cleanIntensity=" + cleanIntensity +
+                '}';
+    }
+}
diff --git 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
new file mode 100644
index 0000000000..097be3af3e
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/dao/WeltDataDao.java
@@ -0,0 +1,27 @@
+package com.mogo.och.sweeper.database.dao;
+
+import com.mogo.och.sweeper.database.bean.WeltDataBean;
+
+import java.util.List;
+
+import androidx.room.Dao;
+import androidx.room.Insert;
+import androidx.room.OnConflictStrategy;
+import androidx.room.Query;
+
+import static com.mogo.och.sweeper.database.bean.WeltDataBean.WeltDataTable;
+
+@Dao
+public interface WeltDataDao {
+    //插入数据
+    @Insert(onConflict = OnConflictStrategy.REPLACE)
+    void insert(WeltDataBean fileInfo);
+
+    //删除所有数据
+    @Query("DELETE FROM " + WeltDataTable)
+    int deleteAllWeltData();
+
+    //查询所有数据
+    @Query("SELECT * FROM " + WeltDataTable)
+    List<WeltDataBean> loadAllWeltDataInfo();
+}
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 1ca537c04e..87c5911065 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
@@ -1,12 +1,14 @@
 package com.mogo.och.sweeper.fragment;
 
 import android.os.Bundle;
+import android.os.Looper;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.widget.FrameLayout;
 import android.widget.ImageView;
 import android.widget.LinearLayout;
 
+import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
@@ -18,6 +20,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.listener.MogoMapListenerHandler;
 import com.mogo.map.marker.IMogoMarkerManager;
@@ -26,7 +29,7 @@ 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.bean.WeltDataBean;
+import com.mogo.och.sweeper.database.bean.WeltDataBean;
 import com.mogo.och.sweeper.callback.IWeltMapSwitchToSmallCallback;
 import com.mogo.och.sweeper.view.SweeperTrafficDataView;
 import com.mogo.och.sweeper.view.WeltSmallMapView;
@@ -332,6 +335,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
             refreshNavi();
         } else if (id == R.id.sweeper_switch_to_big) {
             showOrHideOverMapViewFragment(true);
+            setWeltData();
         }
     }
 
@@ -339,6 +343,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
 
     /**
      * 设置作业任务全览图隐藏或者显示
+     *
      * @param isShow
      */
     public void showOrHideOverMapViewFragment(boolean isShow) {
@@ -376,19 +381,85 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         showOrHideOverMapViewFragment(false);
     }
 
+    /**
+     * 设置贴边数据到地图
+     *
+     * @param weltDataBeans
+     */
+    public void setWeltDataToMap(List<WeltDataBean> weltDataBeans) {
+        if (mMapWeltView != null) {
+            mMapWeltView.setWeltData(weltDataBeans);
+            runOnUIThread(() -> {
+                mMapWeltView.drawablePolyline();
+            });
+        }
+        if (mWeltMapOverViewFragment != null && mWeltMapOverViewFragment.isVisible()) {
+            mWeltMapOverViewFragment.setWeltData(weltDataBeans);
+            runOnUIThread(() -> {
+                mWeltMapOverViewFragment.drawablePolyline();
+            });
+        }
+    }
+
+    /**
+     * 添加起点和终点
+     */
+    public void addStartAndEndMarker(LatLng startPoint, LatLng endPoint) {
+        if (mMapWeltView != null) {
+            mMapWeltView.addStartAndEndMarker(startPoint, endPoint);
+        }
+        if (mWeltMapOverViewFragment != null && mWeltMapOverViewFragment.isVisible()) {
+            mWeltMapOverViewFragment.addStartAndEndMarker(startPoint, endPoint);
+        }
+    }
+
+    /**
+     * 清除marker标记和任务路线数据
+     */
+    public void clearAllMarkerAndPolyline() {
+        if (mMapWeltView != null) {
+            mMapWeltView.clearAllMarkerAndPolyline();
+        }
+        if (mWeltMapOverViewFragment != null) {
+            mWeltMapOverViewFragment.clearAllMarkerAndPolyline();
+        }
+    }
+
+    private void runOnUIThread(Runnable executor) {
+        if (executor == null) {
+            return;
+        }
+        if (Looper.myLooper() != Looper.getMainLooper()) {
+            UiThreadHandler.post(executor);
+        } else {
+            executor.run();
+        }
+    }
+
     /**
      * mock 贴边假数据
      */
     private void setWeltData() {
         List<WeltDataBean> weltDataBean = new ArrayList<>();
-        weltDataBean.add(new WeltDataBean(116.38851540542558, 39.97419244219622, -10, 1, 1, 1));
-        weltDataBean.add(new WeltDataBean(116.38777443467706, 39.96694323029558, 8, 1, 1, 1));
-        weltDataBean.add(new WeltDataBean(116.39311478161825, 39.967085313029074, 16, 1, 1, 1));
-        weltDataBean.add(new WeltDataBean(116.40963237692603, 39.975055860562826, 30, 1, 1, 1));
-        weltDataBean.add(new WeltDataBean(116.41146331146084, 39.97513910337909, -9999.0, 1, 1, 1));
-        weltDataBean.add(new WeltDataBean(116.40748849300006, 39.96752223478818, -10000.0, 1, 1, 1));
-        weltDataBean.add(new WeltDataBean(116.42670283855335, 39.97526250389533, 1000, 1, 1, 1));
-        mMapWeltView.setWeltData(weltDataBean);
-        mMapWeltView.drawablePolyline();
+        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));
+    }
+
+    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;
     }
 }
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 06aa396ffa..6bc5c66ae4 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
@@ -2,6 +2,8 @@ package com.mogo.och.sweeper.fragment
 
 import android.os.Bundle
 import android.view.View
+import androidx.annotation.MainThread
+import androidx.annotation.UiThread
 import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.ChassisStatesOuterClass
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -186,7 +188,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             }
         }
     }
-
+    @UiThread
     fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
         this.mCleanSystemState = cleanSystemState
         sweeper_cl_work_mode.setSweeperFutianCleanSystemState(mSubTaskType, cleanSystemState)
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 1d78438404..4db94ec402 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
@@ -1,11 +1,11 @@
 package com.mogo.och.sweeper.fragment
 
 import android.os.Bundle
+import com.amap.api.maps.model.LatLng
 import com.mogo.commons.mvp.BaseFragment
-import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.sweeper.R
-import com.mogo.och.sweeper.bean.WeltDataBean
 import com.mogo.och.sweeper.callback.IWeltMapSwitchToSmallCallback
+import com.mogo.och.sweeper.database.bean.WeltDataBean
 import kotlinx.android.synthetic.main.fragment_welt_map_overview.*
 import kotlinx.android.synthetic.main.sweeper_welt_map_overview.*
 
@@ -26,7 +26,6 @@ class WeltMapOverViewFragment(var mIWeltMapSwitchToSmallCallBack: IWeltMapSwitch
 
     override fun onActivityCreated(savedInstanceState: Bundle?) {
         super.onActivityCreated(savedInstanceState)
-        setWeltData()
         setLegendData()
         sweeperSwitchToSmall.setOnClickListener {
             mIWeltMapSwitchToSmallCallBack?.onWeltMapSwitchToSmall()
@@ -57,29 +56,29 @@ class WeltMapOverViewFragment(var mIWeltMapSwitchToSmallCallBack: IWeltMapSwitch
         super.onDestroy()
         weltMapOverView.onDestroy()
     }
-
     /**
-     * mock 贴边假数据
+     * 设置任务路线数据
      */
-    private fun setWeltData() {
-        val weltDataBean: MutableList<WeltDataBean> = ArrayList()
-        weltDataBean.add(WeltDataBean(116.38851540542558, 39.97419244219622, -10.0, 1, 1, 1))
-        weltDataBean.add(WeltDataBean(116.38777443467706, 39.96694323029558, 8.0, 1, 1, 1))
-        weltDataBean.add(WeltDataBean(116.39311478161825, 39.967085313029074, 16.0, 1, 1, 1))
-        weltDataBean.add(WeltDataBean(116.40963237692603, 39.975055860562826, 30.0, 1, 1, 1))
-        weltDataBean.add(WeltDataBean(116.41146331146084, 39.97513910337909, -9999.0, 1, 1, 1))
-        weltDataBean.add(WeltDataBean(116.40748849300006, 39.96752223478818, -10000.0, 1, 1, 1))
-        weltDataBean.add(WeltDataBean(116.42670283855335, 39.97526250389533, 1000.0, 1, 1, 1))
-        weltMapOverView.setWeltData(weltDataBean)
-        weltMapOverView.drawablePolyline()
-        weltMapOverView.addStartAndEndMarker(
-            CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(context, 116.38851540542558, 39.97419244219622),
-            CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
-                context, 116.42670283855335, 39.97526250389533
-            )
-        )
+    fun setWeltData(weltDatas:MutableList<WeltDataBean>) {
+        weltMapOverView.setWeltData(weltDatas)
     }
 
+    /**
+     * 绘制任务路线数据
+     */
+    fun drawablePolyline(){
+        weltMapOverView.drawablePolyline()
+    }
+    /**
+     * 添加起点和终点marker
+     */
+    fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng){
+        weltMapOverView.drawStartAndEndMarker(startPoint,endPoint)
+    }
+
+    fun clearAllMarkerAndPolyline(){
+        weltMapOverView.clearAllMarkerAndPolyline()
+    }
     /**
      * 设置图例数据
      */
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 36508c47a5..ff44ca41a0 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
@@ -2,6 +2,7 @@ package com.mogo.och.sweeper.presenter;
 
 import android.os.Looper;
 
+import com.amap.api.maps.model.LatLng;
 import com.amap.api.navi.model.NaviLatLng;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
@@ -17,6 +18,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
+import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.sweeper.bean.SweeperMainTaskBean;
 import com.mogo.och.sweeper.bean.SweeperSubTaskBean;
 import com.mogo.och.sweeper.bean.SweeperSubTaskDetailBean;
@@ -25,6 +27,8 @@ import com.mogo.och.sweeper.callback.ISweeperControllerStatusCallback;
 import com.mogo.och.sweeper.callback.ISweeperTaskCallback;
 import com.mogo.och.sweeper.constant.SubTaskTypeEnum;
 import com.mogo.och.sweeper.constant.TaskStatusEnum;
+import com.mogo.och.sweeper.database.MyDataBase;
+import com.mogo.och.sweeper.database.bean.WeltDataBean;
 import com.mogo.och.sweeper.fragment.SweeperFragment;
 import com.mogo.och.sweeper.model.SweeperTaskModel;
 import com.mogo.och.sweeper.util.SweeperFutianCmdUtil;
@@ -59,10 +63,15 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     private int mSubTaskId = 0;
     //当前是否最后一个子任务
     private boolean mIsLastSubtask = false;
-    // 底盘数据回调时间间隔
+    // 清扫模式回调时间间隔
     private static final long VEHICLE_STATE_INTERVAL_MILLIS = 500L;
-    // 当前时间戳
-    private long mCurrentTimeMillis;
+    // 清扫模式当前时间戳
+    private long mVehicleStateCurrentTimeMillis;
+
+    // 贴边数据回调时间间隔
+    private static final long WELT_DATA_INTERVAL_MILLIS = 2000L;
+    // 贴边数据当前时间戳
+    private long mWeltDataCurrentTimeMillis;
 
     public SweeperPresenter(SweeperFragment view) {
         super(view);
@@ -172,6 +181,10 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
 
     }
 
+    /**
+     * 当前子任务id
+     * @param mSubTaskId
+     */
     public void setSubTaskId(int mSubTaskId) {
         this.mSubTaskId = mSubTaskId;
         SweeperTaskModel.getInstance().setSubTaskId(mSubTaskId);
@@ -235,11 +248,14 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
 
     @Override
     public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
-        long current = System.currentTimeMillis();
-        if (current - mCurrentTimeMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
+        if (cleanSystemState==null){
             return;
         }
-        mCurrentTimeMillis = current;
+        long current = System.currentTimeMillis();
+        if (current - mVehicleStateCurrentTimeMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
+            return;
+        }
+        mVehicleStateCurrentTimeMillis = current;
         boolean clean_open_requirement = cleanSystemState.getSecuMotWorkSts();
         // 洗扫
         boolean clean_mode_wash_sweep = cleanSystemState.getSecuModWashSweepSts();
@@ -286,13 +302,46 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
                 .append(clean_intensity_strong);
 
         CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState："+stringBuilder);
-        runOnUIThread(() -> mView.onSweeperFutianCleanSystemState(cleanSystemState));
+         mView.onSweeperFutianCleanSystemState(cleanSystemState);
     }
 
     @Override
     public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
-
-
+        long current = System.currentTimeMillis();
+        if (current - mWeltDataCurrentTimeMillis <= WELT_DATA_INTERVAL_MILLIS) {
+            return;
+        }
+        mWeltDataCurrentTimeMillis = current;
+        if (roboSweeperTaskIndex==null){
+            return;
+        }
+        StringBuilder stringBuilder = new StringBuilder();
+        stringBuilder.append("清扫模式：")
+                .append(roboSweeperTaskIndex.getCleanMode())
+                .append("清扫方向:")
+                .append(roboSweeperTaskIndex.getCleanDirection())
+                .append("清扫强度：")
+                .append(roboSweeperTaskIndex.getCleanIntensity())
+                .append("贴边距离：")
+                .append(roboSweeperTaskIndex.getDistToRefEdgePoint())
+                .append("经度：")
+                .append(roboSweeperTaskIndex.getLocLon())
+                .append("纬度：")
+                .append(roboSweeperTaskIndex.getLocLat());
+        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData："+stringBuilder);
+        //保存贴边数据到数据库中
+        WeltDataBean weltDataBean=new WeltDataBean();
+        //把wgs坐标系坐标转换成gcj坐标
+        LatLng latLng=CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(),roboSweeperTaskIndex.getLocLon(),roboSweeperTaskIndex.getLocLat());
+        weltDataBean.setLocLon(latLng.longitude);
+        weltDataBean.setLocLat(latLng.latitude);
+        weltDataBean.setWeltDistance(roboSweeperTaskIndex.getDistToRefEdgePoint());
+        weltDataBean.setCleanMode(roboSweeperTaskIndex.getCleanMode());
+        weltDataBean.setCleanDirection(roboSweeperTaskIndex.getCleanDirection());
+        weltDataBean.setCleanIntensity(roboSweeperTaskIndex.getCleanIntensity());
+        weltDataBean.setSubTaskId(mSubTaskId);
+        MyDataBase.getInstance().getWeltDataDao().insert(weltDataBean);
+        mView.setWeltDataToMap(MyDataBase.getInstance().getWeltDataDao().loadAllWeltDataInfo());
     }
 
     /**
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 749767df93..5d28df4ec5 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
@@ -15,9 +15,8 @@ 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
 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.WeltDataBean
+import com.mogo.och.sweeper.database.bean.WeltDataBean
 import kotlinx.android.synthetic.main.sweeper_welt_map_overview.view.*
 
 /**
@@ -31,8 +30,10 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     private var mPolyline: Polyline? = null
     private var colorList: MutableList<Int> = mutableListOf()
     private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+
     //清扫车任务地图
     private val TAG = "WeltMapOverView"
+
     constructor(context: Context) : super(context) {}
     constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
         initView(context)
@@ -49,6 +50,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
         setLegendData()
     }
+
     private fun initAMapView() {
         mAMap = sweeperTextureMapView.map
         // 地图文字标注
@@ -62,7 +64,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
         // 设置 锚点 图标
         mCarMarker = mAMap?.addMarker(
             MarkerOptions()
-                .icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_car_small))
+                .icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_car_big))
                 .anchor(0.5f, 0.5f)
         )
         // 设置地图的样式
@@ -99,6 +101,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
             }
         }
     }
+
     override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
         mogoLocation?.let { gnssInfo ->
             val currentLatLng = LatLng(gnssInfo.latitude, gnssInfo.longitude)
@@ -118,6 +121,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
             }
         }
     }
+
     /**
      * 根据贴边数据绘制任务路线
      */
@@ -140,9 +144,9 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     }
 
     /**
-     * 添加起点和终点的marker
+     * 绘制起点和终点的marker
      */
-    fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
+    fun drawStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
         val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.start_maker_icon)))
         startMarker?.position = startPoint
         mLineMarkers.add(startMarker)
@@ -152,32 +156,26 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     }
 
     /**
-     * 清除maker
+     * 清除所有标记和路线
      */
-    private fun clearMarkers() {
+    public fun clearAllMarkerAndPolyline() {
+        mPolyline?.remove()
         for (i in mLineMarkers.indices) {
             mLineMarkers[i]?.isVisible = false
             mLineMarkers[i]?.remove()
         }
         mLineMarkers.clear()
     }
-
-    /**
-     * 清除任务路线
-     */
-    fun clearPolyline() {
-        mPolyline?.remove()
-    }
-
     /**
      * 设置贴边数据
      */
     fun setWeltData(weltData: MutableList<WeltDataBean>) {
         this.mWeltData = weltData
         for (i in mWeltData.indices) {
-            mCoordinatesLatLng.add(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(context, mWeltData[i].locLon, mWeltData[i].locLat))
+            mCoordinatesLatLng.add(LatLng(mWeltData[i].locLat, mWeltData[i].locLon))
         }
     }
+
     /**
      * 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 0f0829095e..be0c79afc6 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
@@ -16,7 +16,7 @@ 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.WeltDataBean
+import com.mogo.och.sweeper.database.bean.WeltDataBean
 import kotlinx.android.synthetic.main.sweeper_welt_small_map_view.view.*
 
 /**
@@ -104,7 +104,7 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
         uiSettings?.setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
         mAMap?.setOnMapLoadedListener(AMap.OnMapLoadedListener {
             d(SceneConstant.M_SWEEPER + TAG, "WeltView---onMapLoaded")
-            //mAMap?.setPointToCenter(mAMapNaviView?.width?.div(2) ?: 0, mAMapNaviView?.height?.div(2) ?: 0)
+            mAMap?.setPointToCenter(sweeperSmallTextureMapView.width / 2, sweeperSmallTextureMapView.height / 2)
         })
     }
 
@@ -145,7 +145,6 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
                 polylineOptions.colorValues(colorList)
                 // 绘制线
                 mPolyline = mAMap?.addPolyline(polylineOptions)
-                addStartAndEndMarker(mCoordinatesLatLng[0], mCoordinatesLatLng[mCoordinatesLatLng.size - 1])
             }
         }
     }
@@ -153,7 +152,7 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     /**
      * 添加起点和终点的marker
      */
-    private fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
+    fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
         val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.start_maker_icon)))
         startMarker?.position = startPoint
         mLineMarkers.add(startMarker)
@@ -163,23 +162,16 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     }
 
     /**
-     * 清除数据
+     * 清除所有标记和路线
      */
-    private fun clearMarkers() {
+    fun clearAllMarkerAndPolyline() {
+        mPolyline?.remove()
         for (i in mLineMarkers.indices) {
             mLineMarkers[i]?.isVisible = false
             mLineMarkers[i]?.remove()
         }
         mLineMarkers.clear()
     }
-
-    /**
-     * 清除任务路线
-     */
-    fun clearPolyline() {
-        mPolyline?.remove()
-    }
-
     /**
      * 设置贴边数据
      */
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_big.png b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_big.png
new file mode 100644
index 0000000000..b30095f4c9
Binary files /dev/null and b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_big.png differ