eagle 工控机提供车前引导线数据

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java

@@ -4,6 +4,7 @@ import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
+import com.mogo.service.adas.entity.ADASTrajectoryInfo;
 
 import java.util.List;
 
@@ -205,4 +206,15 @@ public interface IMogoADASController extends IProvider {
 
     void mockAdasRecognized(List<ADASRecognizedResult> recognizedResults);
 
+    /**
+     * 添加车前引导线回调
+     * @param
+     */
+    void addAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
+    /**
+     * 移除车前引导线回调
+     * @param
+     */
+    void removeAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
+
 }

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasTrajectoryDataCallBack.java

@@ -0,0 +1,9 @@
+package com.mogo.service.adas;
+
+import com.mogo.service.adas.entity.ADASTrajectoryInfo;
+
+import java.util.List;
+
+public interface IMogoAdasTrajectoryDataCallBack {
+    void onAutopilotTrajectory(List<ADASTrajectoryInfo> trajectoryInfo);
+}

services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASTrajectoryInfo.java

@@ -0,0 +1,115 @@
+package com.mogo.service.adas.entity;
+
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/10/21
+ */
+public class ADASTrajectoryInfo {
+    //经度
+    private Double lon;
+    //纬度
+    private Double lat;
+    //高度
+    private Double alt;
+    //时间 秒s
+    private Double time;
+    //速度 m/s
+    private Double velocity;
+    //加速度
+    private Double acceleration;
+    //速度方向
+    private Double theta;
+    //曲率
+    private Double kappa;
+    //从起点到目前的总距离
+    private Double accumulatedDis;
+
+    public void setLon(Double lon) {
+        this.lon = lon;
+    }
+
+    public void setLat(Double lat) {
+        this.lat = lat;
+    }
+
+    public void setAlt(Double alt) {
+        this.alt = alt;
+    }
+
+    public void setTime(Double time) {
+        this.time = time;
+    }
+
+    public void setVelocity(Double velocity) {
+        this.velocity = velocity;
+    }
+
+    public void setAcceleration(Double acceleration) {
+        this.acceleration = acceleration;
+    }
+
+    public void setTheta(Double theta) {
+        this.theta = theta;
+    }
+
+    public void setKappa(Double kappa) {
+        this.kappa = kappa;
+    }
+
+    public void setAccumulatedDis(Double accumulatedDis) {
+        this.accumulatedDis = accumulatedDis;
+    }
+
+    public Double getLon() {
+        return lon;
+    }
+
+    public Double getLat() {
+        return lat;
+    }
+
+    public Double getAlt() {
+        return alt;
+    }
+
+    public Double getTime() {
+        return time;
+    }
+
+    public Double getVelocity() {
+        return velocity;
+    }
+
+    public Double getAcceleration() {
+        return acceleration;
+    }
+
+    public Double getTheta() {
+        return theta;
+    }
+
+    public Double getKappa() {
+        return kappa;
+    }
+
+    public Double getAccumulatedDis() {
+        return accumulatedDis;
+    }
+
+    @Override
+    public String toString() {
+        return "TrajectoryModels{" +
+                "lon=" + lon +
+                ", lat=" + lat +
+                ", alt=" + alt +
+                ", time='" + time + '\'' +
+                ", velocity=" + velocity +
+                ", acceleration=" + acceleration +
+                ", theta=" + theta +
+                ", kappa=" + kappa +
+                ", accumulatedDis=" + accumulatedDis +
+                '}';
+    }
+}