「Change」

增加控制点云绘制的字段isDrawPointCloudData

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

@@ -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")
+        }
     }
 }