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[change]点云接口 开启新线程转发

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xinfengkun
2022-05-31 18:12:21 +08:00
parent f86a4be5d5
commit 7b424db493
1 changed files with 23 additions and 6 deletions
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29
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -68,6 +68,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
private RawUnpack rawUnpack;//业务数据拆包
private RawPack rawPack;//数据打包
private DispatchHandler dispatchHandler;//分发
private DispatchHandler dispatchHandlerPointCloud;//点云分发
private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息
/**
* 与工控机链接状态
@@ -161,6 +162,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
//司机端以及启用线程分发时
if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
dispatchHandler = new DispatchHandler(this);
dispatchHandlerPointCloud = new DispatchHandler(this);
}
}
@@ -269,8 +271,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
// CupidLogUtils.w("--->websocket byte read header = " + messageType.toString());
//判断是否是司机屏幕，是否切换分发线程
if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
if (dispatchHandler != null)
dispatchHandler.sendRawMessage(raw);
if (header.getMsgType() == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
if (dispatchHandlerPointCloud != null)
dispatchHandlerPointCloud.sendRawMessage(raw);
} else {
if (dispatchHandler != null)
dispatchHandler.sendRawMessage(raw);
}
} else {
dispatchRaw(raw);
}
@@ -471,8 +478,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
}
if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER && dispatchHandler != null) {
dispatchHandler.start();
if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
if (dispatchHandler != null) {
dispatchHandler.start();
}
if (dispatchHandlerPointCloud != null) {
dispatchHandlerPointCloud.start();
}
}
startCheckCompatibility();
} else {
@@ -480,8 +492,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
AdasManager.getInstance().setCarConfig(null);
if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER && dispatchHandler != null) {
dispatchHandler.stop();
if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
if (dispatchHandler != null) {
dispatchHandler.stop();
}
if (dispatchHandlerPointCloud != null) {
dispatchHandlerPointCloud.stop();
}
}
}
CupidLogUtils.i(TAG, "工控机连接状态 status=" + status + " reason=" + reason);