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Merge branch 'dev_sweeper-d_230423_3.1.0' of http://gitlab.zhidaoauto.com/SCA/L4HA/AndroidApp/MoGoEagleEye into dev_sweeper-d_230423_3.1.0

Browse Source 
 Conflicts:
	OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
This commit is contained in:
bxb
2023-05-10 16:05:31 +08:00
parent 29650a6051 22eba9793d
commit 20cd34caf5
17 changed files with 181 additions and 27 deletions
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16
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -922,6 +922,22 @@ class MoGoAutopilotControlProvider :
}
}
override fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean) {
if (isSubscribe) {
AdasManager.getInstance().subscribeInterface(
Constants.TERMINAL_ROLE.DRIVER,
Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO
)
} else {
AdasManager.getInstance().subscribeInterface(
Constants.TERMINAL_ROLE.DRIVER,
Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE,
MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO
)
}
}
override fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(switchCmd)
}

14
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -742,6 +742,20 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
/**
* M1拼接视频 10Hz
* 此接口需要订阅，默认不发送数据
* 订阅调用：{@link AdasManager#subscribeInterface(int, int, MessageType)}
* 订阅参数：AdasManager.getInstance().subscribeInterface(Constants.TERMINAL_ROLE.DRIVER, Constants.SUBSCRIBE_TYPE.SUBSCRIBE, MessageType。TYPE_RECEIVE_M1_STITCHED_VIDEO);
* 取消订阅参数：AdasManager.getInstance().subscribeInterface(Constants.TERMINAL_ROLE.DRIVER, Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE, MessageType。TYPE_RECEIVE_M1_STITCHED_VIDEO);
*
* @param header 头
* @param data 数据
*/
override fun onM1StitchedVideo(header: MessagePad.Header, data: ByteArray) {
CallerRoboBusJinlvM1StitchedVideoListenerManager.invokeRoboBusJinlvM1StitchedVideo(data)
}
/**
* 是否可以启动自动驾驶
* 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility

37
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java → core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java
View File

@@ -15,31 +15,34 @@ import com.bumptech.glide.load.engine.DiskCacheStrategy;
import com.bumptech.glide.request.RequestOptions;
import com.bumptech.glide.request.target.CustomTarget;
import com.bumptech.glide.request.transition.Transition;
import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StitchedVideoListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener;
import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedVideoListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianBackCameraVideoListenerManager;
import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
/**
* 清扫车摄像头展示View
* 清扫车摄像头展示View 10Hz
* M1拼接视频展示View 10Hz 需要订阅（连接成功后订阅才生效）：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe)
*/
public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener {
private static final String TAG = SweeperVideoView.class.getSimpleName();
public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener {
private static final String TAG = MogoVideoView.class.getSimpleName();
private final RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
.skipMemoryCache(true)
.diskCacheStrategy(DiskCacheStrategy.NONE)
.dontAnimate();
public SweeperVideoView(@NonNull Context context) {
public MogoVideoView(@NonNull Context context) {
super(context);
}
public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs) {
public MogoVideoView(@NonNull Context context, @Nullable AttributeSet attrs) {
super(context, attrs);
}
public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
public MogoVideoView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
super(context, attrs, defStyleAttr);
}
@@ -47,12 +50,14 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper
protected void onAttachedToWindow() {
super.onAttachedToWindow();
CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this);
CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.addListener(TAG, this);
}
@Override
protected void onDetachedFromWindow() {
super.onDetachedFromWindow();
CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.removeListener(this);
CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.removeListener(this);
}
private final CustomTarget<Bitmap> target = new CustomTarget<Bitmap>() {
@@ -60,7 +65,7 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper
public void onResourceReady(@NonNull Bitmap resource, @Nullable Transition<? super Bitmap> transition) {
//回调内容
if (!resource.isRecycled()) {
SweeperVideoView.this.setImageBitmap(resource);
MogoVideoView.this.setImageBitmap(resource);
}
}
@@ -70,18 +75,28 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper
}
};
@Override
public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
private void draw(@NonNull byte[] data) {
ThreadUtils.runOnUiThread(new Runnable() {
@Override
public void run() {
GlideApp.with(SweeperVideoView.this)
GlideApp.with(MogoVideoView.this)
.asBitmap()
.load(data)
.placeholder(SweeperVideoView.this.getDrawable())
.placeholder(MogoVideoView.this.getDrawable())
.apply(requestOptions)
.into(target);
}
});
}
@Override
public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
draw(data);
}
@Override
public void onRoboBusJinlvM1StitchedVideo(@NonNull byte[] data) {
draw(data);
}
}

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -367,6 +367,12 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun setIsDrawPointCloud(isDrawPointCloud: Boolean)
/**
* 设置M1拼接视频接口订阅
* @param isSubscribe 是否订阅
*/
fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean)
fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean
fun sendRoboBusJinlvM1AirConditionerCmd(

11
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StitchedVideoListener.kt Normal file
View File

@@ -0,0 +1,11 @@
package com.mogo.eagle.core.function.api.autopilot
/**
* M1拼接视频 10Hz
*/
interface IMoGoRoboBusJinlvM1StitchedVideoListener {
/**
* 金旅M1拼接视频数据 10Hz 每一帧为一张图片
*/
fun onRoboBusJinlvM1StitchedVideo(data: ByteArray)
}

8
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -511,6 +511,14 @@ object CallerAutoPilotControlManager {
providerApi?.setIsDrawPointCloud(isDrawPointCloud)
}
/**
* 设置M1拼接视频接口订阅（连接成功后订阅才生效）
* @param isSubscribe 是否订阅
*/
fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean) {
providerApi?.setIsSubscribeM1StitchedVideo(isSubscribe)
}
fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
return providerApi?.sendRoboBusJinlvM1FrontDoorCmd(switchCmd) ?: false
}

20
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StitchedVideoListenerManager.kt Normal file
View File

@@ -0,0 +1,20 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StitchedVideoListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* 清扫车（福田）后摄像头视频数据
*/
object CallerRoboBusJinlvM1StitchedVideoListenerManager : CallerBase<IMoGoRoboBusJinlvM1StitchedVideoListener>() {
/**
* 后摄像头视频数据
*/
fun invokeRoboBusJinlvM1StitchedVideo(data: ByteArray) {
M_LISTENERS.forEach {
val listener = it.value
listener.onRoboBusJinlvM1StitchedVideo(data)
}
}
}

3
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
View File

@@ -1,9 +1,6 @@
package com.mogo.eagle.core.function.call.autopilot
import chassis.ChassisStatesOuterClass
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**

4
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -31,6 +31,7 @@ enum MessageType
MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
MsgTypeBackCameraVideo = 0x1000d; //清扫车后部摄像头视频 10hz
MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 10hz
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
@@ -646,6 +647,9 @@ message PlanningCmd
//message definition for MsgTypeBackCameraVideo
//payload:jpeg data
//message definition for MsgTypeM1StitchedVideo
//payload:jpeg data
//message definition for MsgTypeV2nCongestionEvent
//refer to RSI_PB in mogo_v2x.proto for details

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -259,6 +259,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
// dispatchHandlers.put(MessagePad.MessageType.MsgTypePlanningDecisionState, new DispatchHandler(MessagePad.MessageType.MsgTypePlanningDecisionState, this));
//清扫车后摄像头数据
dispatchHandlers.put(MessagePad.MessageType.MsgTypeBackCameraVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeBackCameraVideo, this));
//M1拼接视频
dispatchHandlers.put(MessagePad.MessageType.MsgTypeM1StitchedVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeM1StitchedVideo, this));
}
/**

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -4,6 +4,7 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.common.MessageType;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
@@ -357,6 +358,18 @@ public interface OnAdasListener {
*/
void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager);
/**
* M1拼接视频 10Hz
* 此接口需要订阅，默认不发送数据
* 订阅调用：{@link AdasManager#subscribeInterface(int, int, MessageType)}
* 订阅参数：AdasManager.getInstance().subscribeInterface(Constants.TERMINAL_ROLE.DRIVER, Constants.SUBSCRIBE_TYPE.SUBSCRIBE, MessageType。TYPE_RECEIVE_M1_STITCHED_VIDEO);
* 取消订阅参数：AdasManager.getInstance().subscribeInterface(Constants.TERMINAL_ROLE.DRIVER, Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE, MessageType。TYPE_RECEIVE_M1_STITCHED_VIDEO);
*
* @param header 头
* @param data 数据
*/
void onM1StitchedVideo(@NonNull MessagePad.Header header, @NonNull byte[] data);
/**
* 是否有能力启动自动驾驶
*

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -4,7 +4,10 @@ import mogo.telematics.pad.MessagePad;
/**
* 工控机发送或接收的类型
* 工控机接收接口必须包含TYPE_RECEIVE
* 工控机接收接口必须包含：TYPE_RECEIVE
* 目前收发相同的Type：
* * MessagePad.MessageType.MsgTypeBagManagerCmd
* * MessagePad.MessageType.MsgTypeTaskCmd
*
* @author nie yunlong
* @description 请求值
@@ -26,6 +29,7 @@ public enum MessageType {
TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "清扫车后摄像头"),
TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
View File

@@ -9,7 +9,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
/**
* 清扫车后摄像头
* 清扫车后摄像头 10Hz
*/
public class BackCameraVideoMessage extends MyAbstractMessageHandler {

33
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java Normal file
View File

@@ -0,0 +1,33 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
/**
* M1拼接视频 10Hz
*/
public class M1StitchedVideoMessage extends MyAbstractMessageHandler {
public M1StitchedVideoMessage() {
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
int len = raw.getPackageLengthValue() - raw.getOffsetValue();
byte[] data = new byte[len];
System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
AdasChannel.calculateTimeConsumingOnDispatchRaw("M1StitchedVideoMessage", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onM1StitchedVideo(raw.getHeader(), data);
}
AdasChannel.calculateTimeConsumingBusiness("M1StitchedVideoMessage", nowTime);
}
}

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

@@ -39,6 +39,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg backCameraVideoMessage;//清扫车后摄像头
private IMsg pointCloudMessage;//3D点云
private IMsg sweeperCloudTaskMessage;//云控下发清扫车任务指令
private IMsg m1StitchedVideoMessage;//M1拼接视频
private final AutopilotReview autopilotReview;
@@ -204,7 +205,13 @@ public class MyMessageFactory implements IMyMessageFactory {
sweeperCloudTaskMessage = new SweeperCloudTaskMessage();
}
return sweeperCloudTaskMessage;
} else {
} else if (messageType == MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO.typeCode) {
//清扫车后摄像头
if (m1StitchedVideoMessage == null) {
m1StitchedVideoMessage = new M1StitchedVideoMessage();
}
return m1StitchedVideoMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;
}

21
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java
View File

@@ -188,6 +188,7 @@ public class FpgaSocket implements IWebSocket {
void onWebSocketConnectFailed(String t);
void onMessage(String message);
//TODO 计算耗时 临时测试
void onMessage(long receiveTime, ByteString bytes) throws InvalidProtocolBufferException;
}
@@ -364,16 +365,18 @@ public class FpgaSocket implements IWebSocket {
* @param isInitiative 是否是主动断开
* @param code code
*/
private void close(boolean isInitiative, int code) {
private synchronized void close(boolean isInitiative, int code) {
isConnected.set(false);
String closeReason = null;
if (isInitiative) {
closeReason = "用户主动关闭";
}
boolean isClose = mWebSocket.close(code, closeReason);
CupidLogUtils.i(TAG, "WebSocket " + (isInitiative ? "主动" : "被动") + "断开连接是否成功= " + isClose);
if (!isInitiative) {
mWebSocket.cancel();
if (mWebSocket != null) {
String closeReason = null;
if (isInitiative) {
closeReason = "用户主动关闭";
}
boolean isClose = mWebSocket.close(code, closeReason);
CupidLogUtils.i(TAG, "WebSocket " + (isInitiative ? "主动" : "被动") + "断开连接是否成功= " + isClose);
if (!isInitiative) {
mWebSocket.cancel();
}
}
mWebSocket = null;
}

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
View File

@@ -138,7 +138,8 @@ public class SubscribeInterface {
MessageType[] types = MessageType.values();
if (types.length > 0) {
for (MessageType messageType : types) {
if (messageType.name().toLowerCase().contains("type_receive")) {
//连接成功后只有M1拼接视频接收接口默认不进行订阅，其他接收接口默认自动订阅
if (messageType != MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO && messageType.name().toLowerCase().contains("type_receive")) {
subscribedInterface.put(messageType, messageType.typeCode.getNumber());
}
}