diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index d0e73edff8..d4e1fcd752 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -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) } diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index d9fd0ce007..cfc8d3ae9e 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -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 diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java similarity index 64% rename from core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java rename to core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java index ce038d1457..492a90e6a7 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java @@ -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 target = new CustomTarget() { @@ -60,7 +65,7 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper public void onResourceReady(@NonNull Bitmap resource, @Nullable Transition 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); + } + } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index 03509c9813..6292b53abc 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt @@ -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( diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StitchedVideoListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StitchedVideoListener.kt new file mode 100644 index 0000000000..701b364821 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StitchedVideoListener.kt @@ -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) +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt index 02d52f2a61..c2e55dd28e 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt @@ -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 } diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StitchedVideoListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StitchedVideoListenerManager.kt new file mode 100644 index 0000000000..7b40b6ffb5 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StitchedVideoListenerManager.kt @@ -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() { + + /** + * 后摄像头视频数据 + */ + fun invokeRoboBusJinlvM1StitchedVideo(data: ByteArray) { + M_LISTENERS.forEach { + val listener = it.value + listener.onRoboBusJinlvM1StitchedVideo(data) + } + } +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt index 95d2dde9e8..ecf3d4dbff 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt @@ -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 /** 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 675d7b66ce..631aee93b6 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -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 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 554c2e6774..a3311dccab 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 @@ -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)); } /** 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 77c63a0bfe..6e0e3d6460 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 @@ -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 * 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 962a36e698..4d8477a1e4 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 @@ -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"), diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java index 835597daff..e14eaf9671 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java @@ -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 { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java new file mode 100644 index 0000000000..32908a8593 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java @@ -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); + } +} 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 1cc9cb3744..1cb5b0dc9c 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 @@ -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; } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java index 5655f47219..c88cc87547 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java @@ -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; } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java index 5ad742be4f..37d22f46a4 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java @@ -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()); } }