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A、修复默认没有订阅点云的问题

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-09-06 18:22:16 +08:00
parent 52fa106101
commit 056a7274a6
2 changed files with 8 additions and 8 deletions
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14
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -90,19 +90,19 @@ class MoGoAutopilotProvider :
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
// 配置默认关闭的连接topic
val messageTypes: MutableSet<MessageType> = HashSet()
messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
.setRole(Constants.TERMINAL_ROLE.DRIVER)
.setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
.setMessageTypes(messageTypes).build()
// val messageTypes: MutableSet<MessageType> = HashSet()
// messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
// val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
// .setRole(Constants.TERMINAL_ROLE.DRIVER)
// .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
// .setMessageTypes(messageTypes).build()
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.setSubscribeInterfaceOptions(subscribeInterfaceOptions)
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())