「Change」

升级地图
2.2.0.7
修改崩溃
添加绘制点云开关接口

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

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")
     }