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点云高精地图集成

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-05-23 12:49:09 +08:00
parent 7a0f877a5c
commit 5f160b0688
6 changed files with 147 additions and 3 deletions
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6
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.autopilot.adapter
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD
@@ -33,10 +32,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListe
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.zhidao.support.adas.high.AdasManager
@@ -241,6 +241,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
override fun onPointCloud(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
//点云数据透传
//Logger.d("pointCloud","pointCloud"+pointCloud);
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)
}
override fun onBasicInfoReq(