From c5a149691b4d59ee4f4155ef014fb86996393572 Mon Sep 17 00:00:00 2001
From: aibingbing <aibingbing@zhidaoauto.com>
Date: Mon, 29 May 2023 17:53:30 +0800
Subject: [PATCH] =?UTF-8?q?[sweeper-cloud]=20refactor:=20=E4=BA=BA?=
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---
 .../mogo/och/sweepercloud/model/SweeperTaskModel.java | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
index a2599a7847..ba786a442d 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
@@ -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());