[Change]

A、默认开启点云绘制

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java

@@ -973,7 +973,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
             /*—————————————作为司机端———————————*/
             int mode = Constants.getIpcConnectionMode(this);
             Set<MessageType> messageTypes = new HashSet<>();
-            messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD);
+            // 注释掉下面代码，默认开启点云订阅
+            //messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD);
             SubscribeInterfaceOptions subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
                     .setRole(com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG)
                     .setType(com.zhidao.support.adas.high.common.Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt

@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.map
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
@@ -43,32 +42,35 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
     }
 
     override fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
-        // 根据配置动态控制点云是否绘制
-        if (FunctionBuildConfig.isDrawPointCloudData) {
-            if (!isDrawPointCloud) {
-                Logger.d(TAG, "====开启点云渲染====")
-                isDrawPointCloud = true
+        try {// 根据配置动态控制点云是否绘制
+            if (FunctionBuildConfig.isDrawPointCloudData) {
+                if (!isDrawPointCloud) {
+                    Logger.d(TAG, "====开启点云渲染====")
+                    isDrawPointCloud = true
+                    PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
+                }
                 PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
-            }
-            PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
 
-            /**
-             * 更新点云数据
-             * @param dataStr 点云数据
-             * @param isTrasformer 是否需要转换坐标
-             * @param isResidual 是否需要差量更新
-             * @param isStrong 是否加粗显示
-             * @return 是否执行
-             */
-            Logger.d(TAG, "====开始传入地图点云数据====")
-            val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, true, false, false)
-            Logger.d(TAG, "====结束传入地图点云数据=====$result")
-        } else {
-            if (isDrawPointCloud) {
-                Logger.d(TAG, "====停止点云绘制====")
-                isDrawPointCloud = false
-                PointCloudHelper.setIsDrawPointCloud(false)//停止点云绘制
+                /**
+                 * 更新点云数据
+                 * @param dataStr 点云数据
+                 * @param isTrasformer 是否需要转换坐标
+                 * @param isResidual 是否需要差量更新
+                 * @param isStrong 是否加粗显示
+                 * @return 是否执行
+                 */
+                Logger.d(TAG, "====开始传入地图点云数据====")
+                val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, true, false, false)
+                Logger.d(TAG, "====结束传入地图点云数据=====$result")
+            } else {
+                if (isDrawPointCloud) {
+                    Logger.d(TAG, "====停止点云绘制====")
+                    isDrawPointCloud = false
+                    PointCloudHelper.setIsDrawPointCloud(false)//停止点云绘制
+                }
             }
+        } catch (e: Exception) {
+            e.printStackTrace()
         }
     }
 

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt

@@ -120,7 +120,7 @@ object FunctionBuildConfig {
      */
     @Volatile
     @JvmField
-    var isDrawPointCloudData = false
+    var isDrawPointCloudData = true
 
     /**
      * 地图是否忽略判断条件直接绘制工控机引导线数据&全局路径规划