From b92b60e9c0e13c01815963a0bd13b267aeab3be6 Mon Sep 17 00:00:00 2001
From: donghongyu <donghongyu@zhidaoauto.com>
Date: Mon, 6 Jun 2022 17:54:34 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=8CChange=E3=80=8D=20=E5=8D=87=E7=BA=A7?=
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Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
---
 .../function/map/MapPointCloudSubscriber.kt   | 22 +++++++++++++++++--
 gradle.properties                             |  2 +-
 2 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
index c483eb95b3..92b4fa575b 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
@@ -19,6 +19,8 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
 
     private val TAG = "MapPointCloudSubscriber"
 
+    private var isDrawPointCloud = false
+
     init {
         onCrate()
     }
@@ -41,10 +43,26 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
     override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
         // 根据配置动态控制点云是否绘制
         if (FunctionBuildConfig.isDrawPointCloudData) {
+            if (!isDrawPointCloud) {
+                isDrawPointCloud = true
+                PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
+            }
             val data = PointCloudDecoder.decode(header, pointCloud)
+
+            /**
+             * 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
+             */
             val result = PointCloudHelper.updatePointCloudData(data, false, true, true)
-        }else{
-            val result = PointCloudHelper.updatePointCloudData("", false, true, true)
+        } else {
+            if (isDrawPointCloud) {
+                isDrawPointCloud = false
+                PointCloudHelper.setIsDrawPointCloud(false)//停止点云绘制
+            }
         }
         //Logger.d(TAG, "result=$result")
     }
diff --git a/gradle.properties b/gradle.properties
index c15874c78e..6e9a3f03c0 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.3.59
 MOGO_TELEMATIC_VERSION=1.3.59
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.2.0.6
+MAP_SDK_VERSION=2.2.0.7
 MAP_SDK_OPERATION_VERSION=1.0.13
 # websocket
 WEBSOCKET_VERSION=1.1.7