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[change]add planning障碍物

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This commit is contained in:
xinfengkun
2022-06-07 18:25:19 +08:00
parent c2de7226a6
commit 6c941101cd
11 changed files with 121 additions and 153 deletions
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15
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -11,6 +11,7 @@ import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.MyPointCloud;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
@@ -109,6 +110,7 @@ public class DataDistribution {
public final List<String> listArrivalNotification = new ArrayList<>();
public final List<String> listErrorData = new ArrayList<>();
public final List<String> listPointCloud = new ArrayList<>();
public final List<String> listPlanningObjects = new ArrayList<>();
public String cutDown(String str) {
if (isCutDown && str.length() > 650) {
@@ -158,6 +160,19 @@ public class DataDistribution {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof PlanningObjects) {
listPlanningObjects.add(0, time + str);
if (listPlanningObjects.size() > LIST_SIZE) {
listPlanningObjects.remove(listPlanningObjects.size() - 1);
}
if (listener != null) {
listener.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof GnssInfo) {
listGnssInfo.add(0, time + str);

21
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java Normal file
View File

@@ -0,0 +1,21 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import mogo.telematics.pad.MessagePad;
public class PlanningObjects extends BaseInfo {
public final MessagePad.PlanningObjects bean;
public PlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects bean) {
super("接收", bean.getSerializedSize(), header);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

5
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -20,7 +20,6 @@ import com.zhidao.adas.client.adapter.DataShowAdapter;
import com.zhidao.adas.client.base.BaseFragment;
import com.zhidao.adas.client.utils.Constants;
import com.zhidao.adas.client.utils.MyLinearLayoutManager;
import com.zhidao.support.adas.high.AdasManager;
/**
* @author song kenan
@@ -142,7 +141,9 @@ public class InfoFragment extends BaseFragment {
case Constants.TITLE.RECEIVE_POINT_CLOUD:
adapter.setData(DataDistribution.getInstance().listPointCloud);
break;
case Constants.TITLE.RECEIVE_PLANNING_OBJECTS:
adapter.setData(DataDistribution.getInstance().listPlanningObjects);
break;
case Constants.TITLE.RECEIVE_ERROR:
adapter.setData(DataDistribution.getInstance().listErrorData);
break;

180
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -50,6 +50,7 @@ import com.zhidao.adas.client.R;
import com.zhidao.adas.client.adapter.InfoTitleAdapter;
import com.zhidao.adas.client.base.BaseActivity;
import com.zhidao.adas.client.base.BaseAdapter;
import com.zhidao.adas.client.base.BaseFragment;
import com.zhidao.adas.client.bean.ArrivalNotification;
import com.zhidao.adas.client.bean.AutopilotState;
import com.zhidao.adas.client.bean.BasicInfoReq;
@@ -61,6 +62,7 @@ import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.MyPointCloud;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
@@ -86,7 +88,9 @@ import java.net.NetworkInterface;
import java.net.SocketException;
import java.util.ArrayList;
import java.util.Enumeration;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ScheduledExecutorService;
import chassis.VehicleStateOuterClass;
@@ -129,26 +133,9 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private final List<String> titleFragmentData = new ArrayList<>();
private final List<String> titleBtnData = new ArrayList<>();
private final List<IPCConnectState> connectStatusList = new ArrayList<>();
private InfoTitleAdapter btnAdapter;
private InfoTitleAdapter fragmentAdapter;
private InfoFragment carFragment;
private InfoFragment viewFragment;
private InfoFragment canFragment;
private InfoFragment autoFragment;
private InfoFragment warnFragment;
private InfoFragment trajectoryFragment;
private InfoFragment autopilotWayArriveFragment;
private InfoFragment autopilotRouteFragment;
private InfoFragment badcseFragment;
private InfoFragment errorFragment;
private InfoFragment reportMessageFragment;
private InfoFragment perceptionTrafficLightFragment;
private InfoFragment predictionObstacleTrajectoryFragment;
private InfoFragment pointCloudFragment;
private VersionFragment versionFragment;
private final Map<String, BaseFragment> fragmentList = new HashMap<>();
private FragmentManager manager;
private FragmentTransaction transaction;
private String ftpTime;
private boolean isPad;
private long recordKey;
@@ -181,8 +168,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
if (!isPad)
getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, WindowManager.LayoutParams.FLAG_FULLSCREEN);
initView();
firstFragment();
showFragment(Constants.TITLE.RECEIVE_GNSS_INFO);
initAdas();
connectStatus = AdasManager.getInstance().getIpcConnectionStatus();
onUpdateConnectStateView();
@@ -331,7 +317,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
//初始化fragment
manager = getSupportFragmentManager();
transaction = manager.beginTransaction();
cb_print.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
@Override
@@ -524,6 +509,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRACKED_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD);
titleFragmentData.add(Constants.TITLE.RECEIVE_PLANNING_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
@@ -563,7 +549,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
if (animatorInfo != null)
animatorInfo.setSupportsChangeAnimations(false);
//创建并设置Adapter
btnAdapter = new InfoTitleAdapter(titleBtnData, false);
InfoTitleAdapter btnAdapter = new InfoTitleAdapter(titleBtnData, false);
infoBtn.setAdapter(btnAdapter);
btnAdapter.setOnItemClickListener(this);
}
@@ -603,128 +589,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onItemClick(int position, String data) {
fragmentAdapter.setSelectedPosition(position);
manager = getSupportFragmentManager();
transaction = manager.beginTransaction();
switch (data) {
case Constants.TITLE.RECEIVE_GNSS_INFO:
firstFragment();
break;
case Constants.TITLE.RECEIVE_VEHICLE_STATE:
if (canFragment == null)
canFragment = new InfoFragment(data);
if (!canFragment.isVisible()) {
transaction.replace(R.id.fl_info, canFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_TRACKED_OBJECTS:
// hintTrackedObjects(false);
if (viewFragment == null)
viewFragment = new InfoFragment(data);
if (!viewFragment.isVisible()) {
transaction.replace(R.id.fl_info, viewFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_AUTOPILOT_STATE:
if (autoFragment == null)
autoFragment = new InfoFragment(data);
if (!autoFragment.isVisible()) {
transaction.replace(R.id.fl_info, autoFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_WARN:
if (warnFragment == null)
warnFragment = new InfoFragment(data);
if (!warnFragment.isVisible()) {
transaction.replace(R.id.fl_info, warnFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_TRAJECTORY:
if (trajectoryFragment == null)
trajectoryFragment = new InfoFragment(data);
if (!trajectoryFragment.isVisible()) {
transaction.replace(R.id.fl_info, trajectoryFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION:
if (autopilotWayArriveFragment == null)
autopilotWayArriveFragment = new InfoFragment(data);
if (!autopilotWayArriveFragment.isVisible()) {
transaction.replace(R.id.fl_info, autopilotWayArriveFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP:
if (autopilotRouteFragment == null)
autopilotRouteFragment = new InfoFragment(data);
if (!autopilotRouteFragment.isVisible()) {
transaction.replace(R.id.fl_info, autopilotRouteFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_RECORD_RESULT:
if (badcseFragment == null)
badcseFragment = new InfoFragment(data);
if (!badcseFragment.isVisible()) {
transaction.replace(R.id.fl_info, badcseFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_REPORT_MESSAGE:
if (reportMessageFragment == null)
reportMessageFragment = new InfoFragment(data);
if (!reportMessageFragment.isVisible()) {
transaction.replace(R.id.fl_info, reportMessageFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT:
if (perceptionTrafficLightFragment == null)
perceptionTrafficLightFragment = new InfoFragment(data);
if (!perceptionTrafficLightFragment.isVisible()) {
transaction.replace(R.id.fl_info, perceptionTrafficLightFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
if (predictionObstacleTrajectoryFragment == null)
predictionObstacleTrajectoryFragment = new InfoFragment(data);
if (!predictionObstacleTrajectoryFragment.isVisible()) {
transaction.replace(R.id.fl_info, predictionObstacleTrajectoryFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_POINT_CLOUD:
if (pointCloudFragment == null)
pointCloudFragment = new InfoFragment(data);
if (!pointCloudFragment.isVisible()) {
transaction.replace(R.id.fl_info, pointCloudFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_CAR_CONFIG_RESP:
AdasManager.getInstance().sendCarConfigReq();
if (versionFragment == null)
versionFragment = new VersionFragment("工控机版本\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t固定IP配置");
if (!versionFragment.isVisible()) {
transaction.replace(R.id.fl_info, versionFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_ERROR:
if (errorFragment == null)
errorFragment = new InfoFragment(data);
if (!errorFragment.isVisible()) {
transaction.replace(R.id.fl_info, errorFragment);
transaction.commit();
}
break;
}
showFragment(data);
}
});
}
@@ -878,11 +743,17 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
// LogSave.getInstance().saveLog("转换数据=" + data);
}
@Override
public void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects) {
PlanningObjects base = new PlanningObjects(header, planningObjects);
DataDistribution.getInstance().addData(base);
}
@Override
public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);
DataDistribution.getInstance().addData(info);
AdasManager.getInstance().sendBasicInfoResp("X202021111192N41VY", 1);
AdasManager.getInstance().sendBasicInfoResp("X202021111192N41VY", 0);
showToastCenter("收到车机基础信息请求:" + info.toString());
}
@@ -1087,11 +958,20 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
>= Configuration.SCREENLAYOUT_SIZE_LARGE;
}
private void firstFragment() {
if (carFragment == null)
carFragment = new InfoFragment(Constants.TITLE.RECEIVE_GNSS_INFO);
if (!carFragment.isVisible()) {
transaction.replace(R.id.fl_info, carFragment);
private void showFragment(String title) {
BaseFragment fragment = fragmentList.get(title);
if (fragment == null) {
if (Constants.TITLE.RECEIVE_CAR_CONFIG_RESP.equals(title)) {
AdasManager.getInstance().sendCarConfigReq();
fragment = new VersionFragment("工控机版本\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t固定IP配置");
} else {
fragment = new InfoFragment(title);
}
fragmentList.put(title, fragment);
}
if (!fragment.isVisible()) {
FragmentTransaction transaction = manager.beginTransaction();
transaction.replace(R.id.fl_info, fragment);
transaction.commit();
}
}

5
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java
View File

@@ -27,9 +27,12 @@ import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashSet;
import java.util.List;
import java.util.Locale;
import mogo.telematics.pad.MessagePad;
@@ -37,6 +40,7 @@ import mogo.telematics.pad.MessagePad;
* @des 升级页面
*/
public class VersionFragment extends BaseFragment {
private final SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS ", Locale.getDefault());
public VersionFragment() {
}
@@ -159,6 +163,7 @@ public class VersionFragment extends BaseFragment {
temp = ip + ":" + AdasManager.getInstance().getIpcConnectedPort();
}
MessagePad.CarConfigResp adasConfig = AdasManager.getInstance().getCarConfig();
list.add(new Config("更新时间:", sdf.format(new Date())));
list.add(new Config("工控机IP:", temp));
list.add(new Config("工控机版本:", adasConfig == null ? null : adasConfig.getDockVersion()));
list.add(new Config("车牌号:", adasConfig == null ? null : adasConfig.getPlateNumber()));

1
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -152,6 +152,7 @@ public class Constants {
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯";
String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = "他车轨迹预测";
String RECEIVE_POINT_CLOUD = "点云透传";
String RECEIVE_PLANNING_OBJECTS = "Planning障碍物";
// String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
String RECEIVE_CAR_CONFIG_RESP = "信息与配置";

7
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -247,6 +247,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)
}
override fun onPlanningObjects(
header: MessagePad.Header?,
planningObjects: MessagePad.PlanningObjects?
) {
//planning障碍物
}
override fun onBasicInfoReq(
header: MessagePad.Header,
basicInfoReq: MessagePad.BasicInfoReq?

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -96,6 +96,14 @@ public interface OnAdasListener {
*/
void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud);
/**
* planning障碍物
*
* @param header 头
* @param planningObjects 数据
*/
void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects);
/**
* 自动驾驶设备基础信息请求
*

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -21,6 +21,7 @@ public enum MessageType {
TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "planning障碍物"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -20,6 +20,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg perceptionTrafficLightMessage;//感知红绿灯
private IMsg predictionObstacleTrajectoryMessage;//他车轨迹预测
private IMsg pointCloudMessage;//透传点云数据
private IMsg planningObjectsMessage;//planning障碍物
private IMsg basicInfoReqMessage;//自动驾驶设备基础信息请求
private IMsg carConfigRespMessage;//车机基础信息应答
@@ -80,11 +81,17 @@ public class MyMessageFactory implements IMyMessageFactory {
}
return predictionObstacleTrajectoryMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
//他车轨迹预测
//点云透传
if (pointCloudMessage == null) {
pointCloudMessage = new PointCloudMessage();
}
return pointCloudMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.typeCode) {
//planning障碍物
if (planningObjectsMessage == null) {
planningObjectsMessage = new PlanningObjectsMessage();
}
return planningObjectsMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode) {
//自动驾驶设备基础信息请求
if (basicInfoReqMessage == null) {

22
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PlanningObjectsMessage.java Normal file
View File

@@ -0,0 +1,22 @@
package com.zhidao.support.adas.high.msg;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.protocol.RawData;
import mogo.telematics.pad.MessagePad;
/**
* planning障碍物
*/
public class PlanningObjectsMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
MessagePad.PlanningObjects planningObjects = MessagePad.PlanningObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
if (adasListener != null) {
adasListener.onPlanningObjects(raw.getHeader(), planningObjects);
}
}
}