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[change]移除点云解析回调

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This commit is contained in:
xinfengkun
2022-07-19 16:07:12 +08:00
parent b42fb2ecdf
commit 1c77390867
6 changed files with 14 additions and 63 deletions
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18
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -847,15 +847,15 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud) {
MyPointCloud base = new MyPointCloud(header, pointCloud, sdf);
DataDistribution.getInstance().addData(base);
// String data = PointCloudDecoder.decode(header, pointCloud);
// Log.i("dddd", "data==" + data.length());
// Log.i("dddd", "data==" + data);
// LogSave.getInstance().saveLog("转换数据=" + data);
}
// @Override
// public void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud) {
// MyPointCloud base = new MyPointCloud(header, pointCloud, sdf);
// DataDistribution.getInstance().addData(base);
//// String data = PointCloudDecoder.decode(header, pointCloud);
//// Log.i("dddd", "data==" + data.length());
//// Log.i("dddd", "data==" + data);
//// LogSave.getInstance().saveLog("转换数据=" + data);
// }
@Override
public void onPointCloud(byte[] pointCloud) {

10
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -246,11 +246,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
//他车轨迹预测
}
override fun onPointCloud(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
//点云数据透传
//Logger.d("pointCloud","pointCloud"+pointCloud);
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header, pointCloud)
}
// override fun onPointCloud(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
// //点云数据透传
// //Logger.d("pointCloud","pointCloud"+pointCloud);
// CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header, pointCloud)
// }
override fun onPointCloud(pointCloud: ByteArray?) {
//点云数据透传

11
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -63,13 +63,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
private static final String TAG = AdasChannel.class.getSimpleName();
private static final String THREAD_NAME_DISPATCH_EVENT = "IPCEventDispatchHandler";//除点云单独拆分线程以外都是用此名称
private static final String THREAD_NAME_DISPATCH_POINT_CLOUD = "IPCPointCloudDispatchHandler";
private static final String THREAD_NAME_DISPATCH_PARSE_POINT_CLOUD = "IPCParsePointCloudDispatchHandler";//解析点云线程 地图支持后将会删除
private FpgaSocket mSocket;
private RawUnpack rawUnpack;//业务数据拆包
private RawPack rawPack;//数据打包
private DispatchHandler dispatchHandler;//分发
private DispatchHandler dispatchHandlerPointCloud;//原始的点云数据分发
private DispatchHandler dispatchHandlerParsePointCloud;//解析过的点云数据分发 地图支持后将会删除
private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息
/**
* 与工控机链接状态
@@ -159,7 +157,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
//启用线程分发
dispatchHandler = new DispatchHandler(THREAD_NAME_DISPATCH_EVENT, this);
dispatchHandlerPointCloud = new DispatchHandler(THREAD_NAME_DISPATCH_POINT_CLOUD, this);
dispatchHandlerParsePointCloud = new DispatchHandler(THREAD_NAME_DISPATCH_PARSE_POINT_CLOUD, this);
}
/**
@@ -285,8 +282,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
if (dispatchHandlerPointCloud != null) {
dispatchHandlerPointCloud.sendRawMessage(raw);
}
if (dispatchHandlerParsePointCloud != null)
dispatchHandlerParsePointCloud.sendRawMessage(raw);
} else {
if (dispatchHandler != null)
dispatchHandler.sendRawMessage(raw);
@@ -511,9 +506,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
if (dispatchHandlerPointCloud != null) {
dispatchHandlerPointCloud.start();
}
if (dispatchHandlerParsePointCloud != null) {
dispatchHandlerParsePointCloud.start();
}
}
@Override
@@ -524,9 +516,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
if (dispatchHandlerPointCloud != null) {
dispatchHandlerPointCloud.stop();
}
if (dispatchHandlerParsePointCloud != null) {
dispatchHandlerParsePointCloud.stop();
}
}
/**

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -8,7 +8,6 @@ import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
import rule_segement.MogoPointCloudOuterClass;
import system_master.SystemStatusInfo;
/**
@@ -89,14 +88,6 @@ public interface OnAdasListener {
*/
void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects);
/**
* 透传的点云数据
*
* @param header 头
* @param pointCloud 数据
*/
void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud);
/**
* 透传的点云数据
*

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -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 pointCloudMessage;//透传点云数据
private IMsg planningObjectsMessage;//planning障碍物
private IMsg basicInfoReqMessage;//自动驾驶设备基础信息请求
@@ -82,12 +81,6 @@ public class MyMessageFactory implements IMyMessageFactory {
predictionObstacleTrajectoryMessage = new PredictionObstacleTrajectoryMessage();
}
return predictionObstacleTrajectoryMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
//点云透传
if (pointCloudMessage == null) {
pointCloudMessage = new PointCloudMessage();
}
return pointCloudMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.typeCode) {
//planning障碍物
if (planningObjectsMessage == null) {

22
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java
View File

@@ -1,22 +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 rule_segement.MogoPointCloudOuterClass;
/**
* 透传点云数据
*/
public class PointCloudMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
MogoPointCloudOuterClass.MogoPointCloud pointCloud = MogoPointCloudOuterClass.MogoPointCloud.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
if (adasListener != null) {
adasListener.onPointCloud(raw.getHeader(), pointCloud);
}
}
}