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[sweeper-cloud] refactor: 人工驾驶子任务，因MAP问题返回上一个轨迹的贴边数据，这块先cover ，修改成人工子任务都默认是非贴边；

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aibingbing
2023-05-29 17:53:30 +08:00
parent b164fb7dc2
commit c5a149691b
1 changed files with 4 additions and 7 deletions
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11
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
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@@ -437,12 +437,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
return;
}
//人工子任务 当前因为云控需求时MAP不能获取任务状态，在人工子任务时还是返回的上一个任务的贴边数据
// 所以 20230529 暂时过滤掉，待后面MAP处理后这里的过滤可以删除
if (mSubTaskType == SweeperTask.TaskModel.MANUAL) {
return;
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "mSubTaskType："+mSubTaskType+"+ onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
handleWeltData(roboSweeperTaskIndex);
}
@@ -465,7 +459,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
weltDataBean.setLocLon(latLng.longitude);
weltDataBean.setLocLat(latLng.latitude);
int edgeCleanState = roboSweeperTaskIndex.getEdgeCleanState();
if (edgeCleanState == 0) {
if (edgeCleanState == 0 ||
(mSubTaskType == SweeperTask.TaskModel.MANUAL)) {
//人工子任务 当前因为云控需求时MAP不能获取任务状态，在人工子任务时还是返回的上一个任务的贴边数据
// 所以 20230529 暂时过滤掉，待后面MAP修改后这里可删除，这里人工子任务默认都是非贴边
weltDataBean.setWeltDistance(SweeperConst.NONWELT);
} else {
weltDataBean.setWeltDistance(roboSweeperTaskIndex.getDistToRefEdgePoint());