Merge branch 'dev_robotaxi-d-app-module_270_220510_2.7.0_point' into dev_robotaxi-d-app-module_270_220510_2.7.0

# Conflicts: # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
2022-05-24 18:31:11 +08:00
parent 1e15ba3526 778156c2a2
commit 3e3f3c6f8e
9 changed files with 185 additions and 3 deletions
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
@@ -0,0 +1,73 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import androidx.annotation.Nullable
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import mogo.telematics.pad.MessagePad
+import perception.TrafficLightOuterClass
+import rule_segement.PointCloud
+import java.util.concurrent.ConcurrentHashMap
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/30 5:48 下午
+ * 点云数据管理
+ */
+object CallerAutopilotPointCloudListenerManager : CallerBase() {
+
+    // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
+    private val M_AUTOPILOT_IDENTIFY_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotPointCloudListener> =
+            ConcurrentHashMap()
+
+    /**
+     * 添加 域控制器感知数据 监听
+     * @param tag 标记，用来注销监听使用
+     * @param listener 监听回调
+     */
+    fun addListener(
+            @Nullable tag: String,
+            @Nullable listener: IMoGoAutopilotPointCloudListener
+    ) {
+        if (M_AUTOPILOT_IDENTIFY_LISTENERS.containsKey(tag)) {
+            return
+        }
+        M_AUTOPILOT_IDENTIFY_LISTENERS[tag] = listener
+    }
+
+    /**
+     * 删除监听
+     * @param tag 标记，用来注销监听使用
+     */
+    fun removeListener(@Nullable tag: String) {
+        if (!M_AUTOPILOT_IDENTIFY_LISTENERS.containsKey(tag)) {
+            return
+        }
+        M_AUTOPILOT_IDENTIFY_LISTENERS.remove(tag)
+    }
+
+    /**
+     * 删除自动驾驶按钮选中监听
+     * @param listener 要删除的监听对象
+     */
+    fun removeListener(@Nullable listener: IMoGoAutopilotPointCloudListener) {
+        M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
+            if (it.value == listener) {
+                M_AUTOPILOT_IDENTIFY_LISTENERS.remove(it.key)
+            }
+        }
+    }
+
+    /**
+     * 识别交通元素数据发生更新 回调
+     */
+    @Synchronized
+    fun invokeAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
+        M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onAutopilotPointCloudDataUpdate(header,pointCloud)
+        }
+    }
+
+}