[add]更新PB，添加他车轨迹预测接口

2022-04-25 10:12:35 +08:00
parent 8c788c055e
commit 22b41082a0
15 changed files with 238 additions and 3 deletions
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
@@ -10,6 +10,7 @@ import com.zhidao.adas.client.bean.GlobalPathResp;
 import com.zhidao.adas.client.bean.GnssInfo;
 import com.zhidao.adas.client.bean.MogoReportMessage;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
+import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
 import com.zhidao.adas.client.bean.RecordPanel;
 import com.zhidao.adas.client.bean.TrackedObjects;
 import com.zhidao.adas.client.bean.Trajectory;
@@ -98,6 +99,7 @@ public class DataDistribution {
    public final List<String> listAutopilotState = new ArrayList<>();
    public final List<String> listMogoReportMessage = new ArrayList<>();
    public final List<String> listPerceptionTrafficLight = new ArrayList<>();
+    public final List<String> listPredictionObstacleTrajectory = new ArrayList<>();
    public final List<String> listBasicInfoReq = new ArrayList<>();
    public final List<String> listRecordPanel = new ArrayList<>();
    public final List<String> listGlobalPathResp = new ArrayList<>();
@@ -205,6 +207,19 @@ public class DataDistribution {
 //                for (OnAdasClientListener listener : listeners) {
 //                    listener.onPerceptionTrafficLight((PerceptionTrafficLight) data);
 //                }
+//            }
+        } else if (data instanceof PredictionObstacleTrajectory) {
+            listPredictionObstacleTrajectory.add(0, time + str);
+            if (listPredictionObstacleTrajectory.size() > LIST_SIZE) {
+                listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1);
+            }
+            if (listener != null) {
+                listener.onRefresh();
+            }
+//            if (!listeners.isEmpty()) {
+//                for (OnAdasClientListener listener : listeners) {
+//                    listener.onRefresh();
+//                }
 //            }
        } else if (data instanceof BasicInfoReq) {
            listBasicInfoReq.add(0, time + str);
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java
@@ -0,0 +1,22 @@
+package com.zhidao.adas.client.bean;
+
+import com.google.protobuf.TextFormat;
+
+import mogo.telematics.pad.MessagePad;
+import prediction.Prediction;
+
+public class PredictionObstacleTrajectory extends BaseInfo {
+    public final Prediction.mPredictionObjects bean;
+
+    public PredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects bean) {
+        super("接收", bean.getSerializedSize(), header);
+        this.bean = bean;
+    }
+
+
+    @Override
+    public String toString() {
+        return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
+    }
+
+}
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
@@ -146,6 +146,9 @@ public class InfoFragment extends BaseFragment {
            case Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT:
                adapter.setData(DataDistribution.getInstance().listPerceptionTrafficLight);
                break;
+            case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
+                adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory);
+                break;
            case Constants.TITLE.RECEIVE_ERROR:
                adapter.setData(DataDistribution.getInstance().listErrorData);
                break;
--- 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
@@ -57,6 +57,7 @@ import com.zhidao.adas.client.bean.IPCConnectState;
 import com.zhidao.adas.client.bean.MogoReportMessage;
 import com.zhidao.adas.client.bean.MySSHResult;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
+import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
 import com.zhidao.adas.client.bean.RecordPanel;
 import com.zhidao.adas.client.bean.TrackedObjects;
 import com.zhidao.adas.client.bean.Trajectory;
@@ -91,6 +92,7 @@ import io.netty.channel.Channel;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
+import prediction.Prediction;
 import record_cache.RecordPanelOuterClass;

 public class MainActivity extends BaseActivity implements OnAdasListener, OnAdasConnectStatusListener, BaseAdapter.OnItemClickListener<String> {
@@ -140,6 +142,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
    private InfoFragment errorFragment;
    private InfoFragment reportMessageFragment;
    private InfoFragment perceptionTrafficLightFragment;
+    private InfoFragment predictionObstacleTrajectoryFragment;
    private VersionFragment versionFragment;
    private FragmentManager manager;
    private FragmentTransaction transaction;
@@ -443,6 +446,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
        titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
        titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
        titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
        titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP);
        titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT);
        titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
@@ -599,6 +603,14 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                            transaction.commit();
                        }
                        break;
+                    case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
+                        if (predictionObstacleTrajectoryFragment == null)
+                            predictionObstacleTrajectoryFragment = new InfoFragment(data);
+                        if (!predictionObstacleTrajectoryFragment.isVisible()) {
+                            transaction.replace(R.id.fl_info, predictionObstacleTrajectoryFragment);
+                            transaction.commit();
+                        }
+                        break;
                    case Constants.TITLE.RECEIVE_CAR_CONFIG_RESP:
                        AdasManager.getInstance().sendCarConfigReq();
                        if (versionFragment == null)
@@ -747,6 +759,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
        DataDistribution.getInstance().addData(base);
    }

+    @Override
+    public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) {
+        PredictionObstacleTrajectory base = new PredictionObstacleTrajectory(header, predictionObjects);
+        DataDistribution.getInstance().addData(base);
+    }
+
    @Override
    public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
        BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java
@@ -167,7 +167,7 @@ public class VersionFragment extends BaseFragment {
            list.add(new Config("最大自动驾驶限速:", adasConfig == null ? null : adasConfig.getMaxSpeedLimit() + "m/s"));
            list.add(new Config("最小加速度:", adasConfig == null ? null : adasConfig.getMinAcceleration() + "m/s²"));
            list.add(new Config("最大加速度:", adasConfig == null ? null : adasConfig.getMaxAcceleration() + "m/s²"));
-            list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersion().getNumber())));
+            list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersionValue())));
            list.add(new Config("APP通信协议版本:", String.valueOf(AdasManager.getInstance().getProtocolVersion())));
        }
        list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion()));
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
@@ -150,6 +150,7 @@ public class Constants {
        String RECEIVE_AUTOPILOT_STATE = "自动驾驶状态";
        String RECEIVE_REPORT_MESSAGE = "监控事件";
        String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯";
+        String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = "他车轨迹预测";

        //        String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
        String RECEIVE_CAR_CONFIG_RESP = "信息与配置";
--- a/app_ipc_monitoring/src/main/res/layout/layout_float.xml
+++ b/app_ipc_monitoring/src/main/res/layout/layout_float.xml
@@ -9,7 +9,9 @@
    <androidx.recyclerview.widget.RecyclerView
        android:id="@+id/rv_status"
        android:layout_width="260dp"
-        android:layout_height="280dp" />
+        android:layout_height="280dp"
+        android:layout_marginTop="2dp"
+        android:layout_marginBottom="2dp" />


 </LinearLayout>