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[8.0.0] ADAS LIB 障碍物轨迹预测2025（老版本完全废弃已移除）;增加域控障碍物类型转换成鹰眼使用的障碍物类型方法;

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xinfengkun
2025-04-24 11:56:53 +08:00
parent 128df8a27f
commit 2ccf1a18f2
11 changed files with 176 additions and 47 deletions
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6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -45,7 +45,7 @@ import packet_mytest_upload.CopyBag;
import perception.FusionTrafficLightOuterClass;
import perception.LaneMarkOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
import prediction.Prediction;
import prediction2025.Prediction2025;
import record_cache.RecordPanelOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
@@ -141,12 +141,12 @@ public interface OnAdasListener {
void onPerceptionTrafficLight(MessagePad.Header header, FusionTrafficLightOuterClass.FusionTrafficLights trafficLights);
/**
* 他车轨迹预测
* 障碍物轨迹预测
*
* @param header 头
* @param predictionObjects 他车轨迹预测数据
*/
void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects);
void onPredictionObstacleTrajectory(@NonNull MessagePad.Header header,@NonNull Prediction2025.mPredictionObjects predictionObjects);
/**
* 透传的点云数据

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -121,7 +121,7 @@ public class MyMessageFactory implements IMyMessageFactory {
perceptionTrafficLightMessage = new PerceptionTrafficLightMessage();
}
return perceptionTrafficLightMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.typeCode) {
} else if (messageType == MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY2025.typeCode) {
//他车轨迹预测
if (predictionObstacleTrajectoryMessage == null) {
predictionObstacleTrajectoryMessage = new PredictionObstacleTrajectoryMessage();

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java
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@@ -8,23 +8,23 @@ import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
import prediction.Prediction;
import prediction2025.Prediction2025;
/**
* 他车轨迹预测
* 障碍物轨迹预测
*/
public class PredictionObstacleTrajectoryMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
Prediction.mPredictionObjects objects = Prediction.mPredictionObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("他车轨迹预测", raw.receiveTime);
Prediction2025.mPredictionObjects objects = Prediction2025.mPredictionObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("障碍物轨迹预测", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onPredictionObstacleTrajectory(raw.getHeader(), objects);
}
AdasChannel.calculateTimeConsumingBusiness("他车轨迹预测", nowTime);
AdasChannel.calculateTimeConsumingBusiness("障碍物轨迹预测", nowTime);
}
}