From 048630673f6c2574933060d3d41bbc7251bee8a4 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 18 May 2022 18:08:18 +0800 Subject: [PATCH] =?UTF-8?q?[chang]adas=20lib=20=E7=A7=BB=E9=99=A4=E9=80=8F?= =?UTF-8?q?=E4=BC=A0=E9=9A=9C=E7=A2=8D=E7=89=A9=E6=8E=A5=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../zhidao/adas/client/DataDistribution.java | 15 --- .../adas/client/bean/PerceptionObstacles.java | 23 ---- .../zhidao/adas/client/ui/InfoFragment.java | 3 - .../zhidao/adas/client/ui/MainActivity.java | 20 --- .../zhidao/adas/client/utils/Constants.java | 1 - .../autopilot/adapter/MoGoAdasListenerImpl.kt | 17 +-- .../src/main/proto/message_pad.proto | 8 +- .../src/main/proto/object.proto | 126 ------------------ .../support/adas/high/OnAdasListener.java | 10 -- .../support/adas/high/common/MessageType.java | 1 - .../adas/high/msg/MyMessageFactory.java | 7 - .../high/msg/PerceptionObstaclesMessage.java | 21 --- 12 files changed, 4 insertions(+), 248 deletions(-) delete mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionObstacles.java delete mode 100644 libraries/mogo-adas-data/src/main/proto/object.proto delete mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java index ce2722a1cf..e773b590a3 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java @@ -10,7 +10,6 @@ import com.zhidao.adas.client.bean.GlobalPathResp; import com.zhidao.adas.client.bean.GnssInfo; import com.zhidao.adas.client.bean.MogoReportMessage; import com.zhidao.adas.client.bean.MyPointCloud; -import com.zhidao.adas.client.bean.PerceptionObstacles; import com.zhidao.adas.client.bean.PerceptionTrafficLight; import com.zhidao.adas.client.bean.PredictionObstacleTrajectory; import com.zhidao.adas.client.bean.RecordPanel; @@ -103,7 +102,6 @@ public class DataDistribution { public final List listMogoReportMessage = new ArrayList<>(); public final List listPerceptionTrafficLight = new ArrayList<>(); public final List listPredictionObstacleTrajectory = new ArrayList<>(); - public final List listPerceptionObstacles = new ArrayList<>(); public final List listBasicInfoReq = new ArrayList<>(); public final List listRecordPanel = new ArrayList<>(); public final List listGlobalPathResp = new ArrayList<>(); @@ -238,19 +236,6 @@ public class DataDistribution { // for (OnAdasClientListener listener : listeners) { // listener.onRefresh(); // } -// } - } else if (data instanceof PerceptionObstacles) { - listPerceptionObstacles.add(0, time + str); - if (listPerceptionObstacles.size() > LIST_SIZE) { - listPerceptionObstacles.remove(listPerceptionObstacles.size() - 1); - } - if (listener != null) { - listener.onRefresh(); - } -// if (!listeners.isEmpty()) { -// for (OnAdasClientListener listener : listeners) { -// listener.onRefresh(); -// } // } } else if (data instanceof BasicInfoReq) { listBasicInfoReq.add(0, time + str); diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionObstacles.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionObstacles.java deleted file mode 100644 index 34c3ae91e8..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionObstacles.java +++ /dev/null @@ -1,23 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import mogo.telematics.pad.MessagePad; -import perception.ObjectOuterClass; -import prediction.Prediction; - -public class PerceptionObstacles extends BaseInfo { - public final ObjectOuterClass.TrackedObjects bean; - - public PerceptionObstacles(MessagePad.Header header, ObjectOuterClass.TrackedObjects bean) { - super("接收", bean.getSerializedSize(), header); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java index 96f85d1bda..228d323015 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java @@ -139,9 +139,6 @@ public class InfoFragment extends BaseFragment { case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY: adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory); break; - case Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES: - adapter.setData(DataDistribution.getInstance().listPerceptionObstacles); - break; case Constants.TITLE.RECEIVE_POINT_CLOUD: adapter.setData(DataDistribution.getInstance().listPointCloud); break; diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java index 659b5dc8eb..efb76a26e3 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java @@ -60,7 +60,6 @@ import com.zhidao.adas.client.bean.GnssInfo; import com.zhidao.adas.client.bean.IPCConnectState; import com.zhidao.adas.client.bean.MogoReportMessage; import com.zhidao.adas.client.bean.MyPointCloud; -import com.zhidao.adas.client.bean.PerceptionObstacles; import com.zhidao.adas.client.bean.PerceptionTrafficLight; import com.zhidao.adas.client.bean.PredictionObstacleTrajectory; import com.zhidao.adas.client.bean.RecordPanel; @@ -78,7 +77,6 @@ import com.zhidao.support.adas.high.OnMultiDeviceListener; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS; import com.zhidao.support.adas.high.common.CupidLogUtils; -import com.zhidao.support.adas.high.common.PointCloudDecoder; import com.zhidao.support.adas.high.common.ProtocolStatus; import com.zhidao.support.adas.high.common.ReceiveTimeoutManager; @@ -95,7 +93,6 @@ import chassis.VehicleStateOuterClass; import io.netty.channel.Channel; import mogo.telematics.pad.MessagePad; import mogo_msg.MogoReportMsg; -import perception.ObjectOuterClass; import perception.TrafficLightOuterClass; import prediction.Prediction; import record_cache.RecordPanelOuterClass; @@ -148,7 +145,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas private InfoFragment reportMessageFragment; private InfoFragment perceptionTrafficLightFragment; private InfoFragment predictionObstacleTrajectoryFragment; - private InfoFragment perceptionObstaclesFragment; private InfoFragment pointCloudFragment; private VersionFragment versionFragment; private FragmentManager manager; @@ -527,7 +523,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas titleFragmentData.add(Constants.TITLE.RECEIVE_GNSS_INFO); titleFragmentData.add(Constants.TITLE.RECEIVE_TRAJECTORY); titleFragmentData.add(Constants.TITLE.RECEIVE_TRACKED_OBJECTS); - titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES); titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD); titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE); titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE); @@ -703,16 +698,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas transaction.commit(); } break; - case Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES: - showToastCenter("此接口目前弃用"); -// hintTrackedObjects(true); - if (perceptionObstaclesFragment == null) - perceptionObstaclesFragment = new InfoFragment(data); - if (!perceptionObstaclesFragment.isVisible()) { - transaction.replace(R.id.fl_info, perceptionObstaclesFragment); - transaction.commit(); - } - break; case Constants.TITLE.RECEIVE_POINT_CLOUD: if (pointCloudFragment == null) pointCloudFragment = new InfoFragment(data); @@ -882,11 +867,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas DataDistribution.getInstance().addData(base); } - @Override - public void onTrackedObjects(MessagePad.Header header, ObjectOuterClass.TrackedObjects trackedObjects) { - PerceptionObstacles base = new PerceptionObstacles(header, trackedObjects); - DataDistribution.getInstance().addData(base); - } @Override public void onPointCloud(MessagePad.Header header, PointCloud.LidarPointCloud pointCloud) { diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java index ea3f14f727..0a3c5498fa 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java @@ -151,7 +151,6 @@ public class Constants { String RECEIVE_REPORT_MESSAGE = "监控事件"; String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯"; String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = "他车轨迹预测"; - String RECEIVE_PERCEPTION_OBSTACLES = "透传障碍物"; String RECEIVE_POINT_CLOUD = "点云透传"; // String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求"; diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index f703d1bde7..58b6a19d99 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -47,7 +47,6 @@ import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD import mogo.telematics.pad.MessagePad import mogo.telematics.pad.MessagePad.TrackedObject import mogo_msg.MogoReportMsg -import perception.ObjectOuterClass import perception.TrafficLightOuterClass import prediction.Prediction import record_cache.RecordPanelOuterClass @@ -101,18 +100,6 @@ class MoGoAdasListenerImpl : OnAdasListener { } } - /** - * 透传的融合障碍物 他车数据 - * 当 MessagePad.CarConfigResp.getProtocolVersionValue() >=3 时此回调有数据，老接口“MessagePad.TrackedObjects”不会回调任何数据 - * - * @param header 头 - * @param trackedObjects 数据 - */ - override fun onTrackedObjects( - header: MessagePad.Header?, - trackedObjects: ObjectOuterClass.TrackedObjects? - ) { - } //自车定位信息 @ChainLog( @@ -238,7 +225,7 @@ class MoGoAdasListenerImpl : OnAdasListener { header: MessagePad.Header?, trafficLights: TrafficLightOuterClass.TrafficLights? ) { - if(trafficLights != null){ + if (trafficLights != null) { CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight( trafficLights ) @@ -269,7 +256,7 @@ class MoGoAdasListenerImpl : OnAdasListener { linkCode = CHAIN_LINK_ADAS, endpoint = PAD, nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG, - paramIndexes = [0,1], + paramIndexes = [0, 1], clientPkFileName = "sn" ) override fun onCarConfigResp( diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index b10495ce2f..507943bfbf 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -3,7 +3,7 @@ package mogo.telematics.pad; enum ProtocolVersion{ Defaultver = 0; - CurrentVersion = 4; //每次修改proto文件增加1 + CurrentVersion = 3; //每次修改proto文件增加1 } enum MessageType @@ -18,8 +18,7 @@ enum MessageType MsgTypeReportMessage = 0x10005; //监控事件报告 MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯 MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测 - MsgTypePerceptionObstacles = 0x10008; //透传的融合障碍物 - MsgTypePointCloud = 0x10009; //点云透传 + MsgTypePointCloud = 0x10008; //点云透传 MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求 MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答 @@ -131,9 +130,6 @@ message AutopilotState // message definition for MessageType: MsgTypePredictionObstacleTrajectory // refer to prediction.proto -// message definition for MessageType: MsgTypePerceptionObstacles -// refer to TrackedObjects in object.proto - // message definition for MessageType: MsgTypePointCloud // refer to point_cloud.proto diff --git a/libraries/mogo-adas-data/src/main/proto/object.proto b/libraries/mogo-adas-data/src/main/proto/object.proto deleted file mode 100644 index af31f08475..0000000000 --- a/libraries/mogo-adas-data/src/main/proto/object.proto +++ /dev/null @@ -1,126 +0,0 @@ -syntax = "proto2"; -package perception; - -import "header.proto"; -import "geometry.proto"; - -enum ObjectType { - TYPE_UNKNOWN = 0; - TYPE_PEDESTRIAN = 3; - TYPE_BICYCLE = 4; - TYPE_MOTOR = 5; - TYPE_RIDER = 6; - TYPE_CAR = 7; - TYPE_TRUCK = 8; - TYPE_BUS = 9; - TYPE_TRAIN = 10; - TYPE_SIGN = 20; - TYPE_LIGHT = 30; - TYPE_RED = 31; - TYPE_GREEN = 32; - TYPE_YELLOW = 33; - TYPE_BLACK = 34; - TYPE_TRIANGLEROADBLOCK = 35; - TYPE_WARNINGTRIANGLE = 36; - TYPE_UNKNOWN_SMALL = 91; - TYPE_UNKNOWN_BIG = 92; - TYPE_UNKNOWN_STATIC = 93; - TYPE_UNKNOWN_DYNAMIC = 94; -} - -message BBox2D { - optional double xmin = 1 [default = nan]; // in pixel. - optional double ymin = 2 [default = nan]; - optional double xmax = 3 [default = nan]; - optional double ymax = 4 [default = nan]; -} - -message CameraObjectSupplement { - optional bool on_use = 1 [default = false]; - optional BBox2D box = 2; - optional int32 cols = 3; - optional int32 rows = 4; -} - -message LidarObjectSupplement { - optional bool on_use = 1 [default = false]; - // Format: [x0, y0, z0, x1, y1, z1...] - repeated double cloud = 2 [packed = true]; -} - -message RadarObjectSupplement { - optional bool on_use = 1 [default = false]; - optional float x = 2; - optional float y = 3; - optional float relative_vel_x = 4; - optional float relative_vel_y = 5; - optional float absolute_vel_x = 6; - optional float absolute_vel_y = 7; -} - -message Object { - optional uint32 id = 1; // obj id, after tracked - optional string sensor_name = 2; - - optional ObjectType type = 3; // obj category - - optional double time_stamp = 4; // sensing time - optional float confidence = 5; // probability - optional int32 status = 6; // reserved - - optional float x_distance = 7; // longitudinal distance - optional float y_distance = 8; // lateral distance - optional float angle = 9; // obj angle relative to host vehicle - - optional geometry.Point center = 10; // x,y,z in meter - optional geometry.Point centroid = 11; - optional geometry.Vector3 size = 12; // length width height(in meter) - repeated geometry.Point contour = 13; // contour points - - optional geometry.Vector3 velocity = 14; // sharing with visual/tracked obj - optional geometry.Vector3 acceleration = 15; - - optional double tracking_time = 16; - - // camera supplement - optional CameraObjectSupplement camera_supplement = 17; - // lidar supplement - optional LidarObjectSupplement lidar_supplement = 18; - // radar supplement - optional RadarObjectSupplement radar_supplement = 19; - //lidar polygon - repeated geometry.Point polygon = 20; // polygon points -} - -message TrackedObject { - optional Object obj = 1; - - optional float yaw = 2; //box orientation angle from x axis, counter clockwise(in rad),range 0 to 2*pi - optional float yaw_rate = 3; //in rad/s - optional geometry.Vector3 velocity = 4; // absolute velocity, in m/s, vx, vy, vz - repeated geometry.Trace trace = 5; // historical positions - repeated geometry.Trace prediction = 6; // predicted global position in future stamp - - optional float absolute_longitude_v = 7; // along lane speed, m/s - optional float absolute_longitude_a = 8; // in m/s2, longitudinal acc - optional float absolute_lateral_v = 9; // vertical to lane speed, left positive, m/s - - optional double longitude = 10; // longitude , in degrees - optional double latitude = 11; // latitude , in degrees - optional double alt = 12; // height above mean sea level in meters - - optional double longitude_p = 13; // position in East , in meters - optional double latitude_p = 14; // position in North , in meters - - optional double speed = 15; //absolute speed - -//float x_speed // longitudinal speed relative to host vehicle, m/s -//float y_speed // lateral speed relative to host vehicle, m/s -} - -message TrackedObjects { - optional common.Header header = 1; - optional string sensor_name = 2; - repeated TrackedObject objs = 3; -} - diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 91da03838e..4d9a5e45a0 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -5,7 +5,6 @@ import com.zhidao.support.adas.high.common.ProtocolStatus; import chassis.VehicleStateOuterClass; import mogo.telematics.pad.MessagePad; import mogo_msg.MogoReportMsg; -import perception.ObjectOuterClass; import perception.TrafficLightOuterClass; import prediction.Prediction; import record_cache.RecordPanelOuterClass; @@ -89,15 +88,6 @@ public interface OnAdasListener { */ void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects); - /** - * 透传的融合障碍物 他车数据 - * 当 MessagePad.CarConfigResp.getProtocolVersionValue() >=3 时此回调有数据，老接口“MessagePad.TrackedObjects”不会回调任何数据 - * - * @param header 头 - * @param trackedObjects 数据 - */ - void onTrackedObjects(MessagePad.Header header, ObjectOuterClass.TrackedObjects trackedObjects); - /** * 透传的点云数据 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java index 43c33eba89..4a00d3ed7e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java @@ -20,7 +20,6 @@ public enum MessageType { TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"), TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"), TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"), - TYPE_RECEIVE_PERCEPTION_OBSTACLES(MessagePad.MessageType.MsgTypePerceptionObstacles, "透传的融合障碍物"), TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"), TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"), diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index 1f95055349..97a16016fd 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -19,7 +19,6 @@ public class MyMessageFactory implements IMyMessageFactory { private IMsg reportMessage;//监控事件报告 private IMsg perceptionTrafficLightMessage;//感知红绿灯 private IMsg predictionObstacleTrajectoryMessage;//他车轨迹预测 - private IMsg perceptionObstaclesMessage;//透传的融合障碍物 private IMsg pointCloudMessage;//透传点云数据 private IMsg basicInfoReqMessage;//自动驾驶设备基础信息请求 @@ -80,12 +79,6 @@ public class MyMessageFactory implements IMyMessageFactory { predictionObstacleTrajectoryMessage = new PredictionObstacleTrajectoryMessage(); } return predictionObstacleTrajectoryMessage; - } else if (messageType == MessageType.TYPE_RECEIVE_PERCEPTION_OBSTACLES.typeCode) { - //他车轨迹预测 - if (perceptionObstaclesMessage == null) { - perceptionObstaclesMessage = new PerceptionObstaclesMessage(); - } - return perceptionObstaclesMessage; } else if (messageType == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) { //他车轨迹预测 if (pointCloudMessage == null) { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java deleted file mode 100644 index 4d4ae7b5a0..0000000000 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java +++ /dev/null @@ -1,21 +0,0 @@ -package com.zhidao.support.adas.high.msg; - -import com.google.protobuf.InvalidProtocolBufferException; -import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.protocol.RawData; - -import perception.ObjectOuterClass; - -/** - * 透传的融合障碍物 ProtocolVersion >=3 版本生效 - */ -public class PerceptionObstaclesMessage extends MyAbstractMessageHandler { - - @Override - public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { - ObjectOuterClass.TrackedObjects trackedObjects = ObjectOuterClass.TrackedObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); - if (adasListener != null) { - adasListener.onTrackedObjects(raw.getHeader(), trackedObjects); - } - } -}