From 1c7739086747a378f11d0ef84b337467f40b9f1c Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Tue, 19 Jul 2022 16:07:12 +0800 Subject: [PATCH] =?UTF-8?q?[change]=E7=A7=BB=E9=99=A4=E7=82=B9=E4=BA=91?= =?UTF-8?q?=E8=A7=A3=E6=9E=90=E5=9B=9E=E8=B0=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../zhidao/adas/client/ui/MainActivity.java | 18 +++++++-------- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 10 ++++----- .../zhidao/support/adas/high/AdasChannel.java | 11 ---------- .../support/adas/high/OnAdasListener.java | 9 -------- .../adas/high/msg/MyMessageFactory.java | 7 ------ .../adas/high/msg/PointCloudMessage.java | 22 ------------------- 6 files changed, 14 insertions(+), 63 deletions(-) delete mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java 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 200e3a9b3f..ea1dbb78bb 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 @@ -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) { 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 c11cdfdef3..c86a419ef2 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 @@ -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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 31172c4283..34dcfed2c8 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -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(); - } } /** 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 0ff0fb4a1e..abfd655396 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 @@ -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 * 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 194215b1d1..f9e372deb9 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 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) { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java deleted file mode 100644 index a5f6ba4986..0000000000 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java +++ /dev/null @@ -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); - } - } -}