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[change] pb 添加透传Planning决策状态

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xinfengkun
2022-08-09 12:32:04 +08:00
parent fa1e5ed21f
commit 9345eabbdb
12 changed files with 131 additions and 24 deletions
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11
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
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@@ -11,9 +11,9 @@ import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.GlobalPathResp;
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.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningDecisionState;
import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordDataConfig;
@@ -116,6 +116,7 @@ public class DataDistribution {
public final List<String> listErrorData = new ArrayList<>();
public final List<String> listOriginalPointCloud = new ArrayList<>();
public final List<String> listPlanningObjects = new ArrayList<>();
public final List<String> listPlanningDecisionState = new ArrayList<>();
public String cutDown(String str) {
if (isCutDown && str.length() > 650) {
@@ -159,6 +160,14 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof PlanningDecisionState) {
listPlanningDecisionState.add(0, time + str);
if (listPlanningDecisionState.size() > LIST_SIZE) {
listPlanningDecisionState.remove(listPlanningDecisionState.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof GnssInfo) {
listGnssInfo.add(0, time + str);
if (listGnssInfo.size() > LIST_SIZE) {

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningDecisionState.java Normal file
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@@ -0,0 +1,23 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class PlanningDecisionState extends BaseInfo {
public final MessagePad.PlanningActionMsg bean;
public PlanningDecisionState(MessagePad.Header header, MessagePad.PlanningActionMsg bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
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@@ -133,6 +133,8 @@ public class InfoFragment extends BaseFragment {
adapter.setData(DataDistribution.getInstance().listOriginalPointCloud);
} else if (Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(title)) {
adapter.setData(DataDistribution.getInstance().listPlanningObjects);
} else if (Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(title)) {
adapter.setData(DataDistribution.getInstance().listPlanningDecisionState);
} else {
adapter.setData(DataDistribution.getInstance().listErrorData);
}

8
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -65,6 +65,7 @@ import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningDecisionState;
import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordDataConfig;
@@ -615,6 +616,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL);
titleFragmentData.add(Constants.TITLE.RECEIVE_PLANNING_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT);
@@ -929,6 +931,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg) {
PlanningDecisionState base = new PlanningDecisionState(header, planningActionMsg, sdf);
DataDistribution.getInstance().addData(base);
}
private void initAdas() {
CupidLogUtils.e(TAG, "--->初始化");

1
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
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@@ -157,6 +157,7 @@ public class Constants {
String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.desc;
String RECEIVE_POINT_CLOUD_ORIGINAL = MessageType.TYPE_RECEIVE_POINT_CLOUD.desc;
String RECEIVE_PLANNING_OBJECTS = MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.desc;
String RECEIVE_PLANNING_DECISION_STATE = MessageType.TYPE_RECEIVE_PLANNING_DECISION_STATE.desc;
// String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
String TITLE_CAR_CONFIG_RESP = "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\t\t\t配置";