「Change」

点云高精地图集成

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.java

@@ -172,6 +172,7 @@ public class MapFragment extends MvpFragment<MapView, MapPresenter>
 
         // TODO 临时初始化地图监听工控机、OBU等数据监听器，用于感知元素绘制
         MapIdentifySubscriber.Companion.getInstance();
+        MapPointCloudSubscriber.Companion.getInstance();
     }
 
     @Override

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt

@@ -0,0 +1,48 @@
+package com.mogo.eagle.core.function.map
+
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
+import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhidao.support.adas.high.common.PointCloudDecoder
+import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
+import mogo.telematics.pad.MessagePad
+import rule_segement.PointCloud
+
+/**
+ * 订阅点云数据
+ * 数据来源：工控机、OBU、云端下发
+ *
+ * @author donghongyu
+ */
+class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAutopilotPointCloudListener {
+
+    private val TAG = "MapPointCloudSubscriber"
+
+    init {
+        onCrate()
+    }
+
+    companion object {
+        val instance: MapPointCloudSubscriber by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+            MapPointCloudSubscriber()
+        }
+    }
+
+    override fun onCrate() {
+        CallerAutopilotPointCloudListenerManager.addListener(TAG, this)
+
+    }
+
+    override fun onDestroy() {
+        CallerAutopilotPointCloudListenerManager.removeListener(TAG)
+
+    }
+
+
+    override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
+        val data = PointCloudDecoder.decode(header, pointCloud)
+        val result = PointCloudHelper.updatePointCloudData(data, false, true, true)
+        //Logger.d(TAG, "result=$result")
+    }
+}