From 2292651b14ef0f62fd2b96676a98798ff3d8ca3e Mon Sep 17 00:00:00 2001
From: donghongyu <donghongyu@zhidaoauto.com>
Date: Mon, 23 May 2022 19:59:47 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=8CChange=E3=80=8D=20=E5=A2=9E=E5=8A=A0?=
 =?UTF-8?q?=E6=8E=A7=E5=88=B6=E7=82=B9=E4=BA=91=E7=BB=98=E5=88=B6=E7=9A=84?=
 =?UTF-8?q?=E5=AD=97=E6=AE=B5isDrawPointCloudData?=
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Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
---
 .../core/function/map/MapPointCloudSubscriber.kt    | 13 +++++++------
 .../eagle/core/data/config/FunctionBuildConfig.kt   |  9 +++++++++
 2 files changed, 16 insertions(+), 6 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 df873ea8ed..d141a6467f 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
@@ -1,9 +1,9 @@
 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.CallerAutopilotPointCloudListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidao.support.adas.high.common.PointCloudDecoder
 import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
 import mogo.telematics.pad.MessagePad
@@ -36,13 +36,14 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
 
     override fun onDestroy() {
         CallerAutopilotPointCloudListenerManager.removeListener(TAG)
-
     }
 
-
     override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
-        val data = PointCloudDecoder.decode(header, pointCloud)
-        val result = PointCloudHelper.updatePointCloudData(data, false, true, true)
-        //Logger.d(TAG, "result=$result")
+        // 根据配置动态控制点云是否绘制
+        if (FunctionBuildConfig.isDrawPointCloudData) {
+            val data = PointCloudDecoder.decode(header, pointCloud)
+            val result = PointCloudHelper.updatePointCloudData(data, false, true, true)
+            //Logger.d(TAG, "result=$result")
+        }
     }
 }
\ No newline at end of file
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
index 49227e0797..44193c016c 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -77,6 +77,15 @@ object FunctionBuildConfig {
     @JvmField
     var isDrawObuIdentifyData = true
 
+    /**
+     * 地图是否绘制 点云数据
+     * true - 绘制
+     * false - 不绘制
+     */
+    @Volatile
+    @JvmField
+    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
      * 用于调试