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[change] 更新主动录制bag包重载方法

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This commit is contained in:
xinfengkun
2022-10-18 20:30:48 +08:00
parent 0c956bd16e
commit 9aa751bfda
4 changed files with 92 additions and 43 deletions
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6
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -142,11 +142,11 @@ message GnssInfo
// message definition for MessageType: MsgTypeAutopilotState
message AutopilotState
{
uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中
uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中,3:平行驾驶
uint32 camera = 2; //camera节点状态 1:开启，0:关闭
uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶，2平行驾驶
double speed = 6; //惯导车速 m/s
string reason = 7; //不可用原因(abandoned)
}
@@ -167,7 +167,7 @@ message AutopilotState
message PlanningObject
{
uint32 uuid = 1;
uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事
uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事 0是leading障碍物，1是避障和择机的障碍物
}
message PlanningObjects

61
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -822,54 +822,37 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
@Override
public boolean startRecordPackage(int id, int type) {
return sendRecordData(id, 0, type, true, -1);
return sendRecordData(id, 0, type, true, -1, null);
}
@Override
public boolean startRecordPackage(int id, int duration, int type) {
return sendRecordData(id, duration, type, true, -1);
return sendRecordData(id, duration, type, true, -1, null);
}
@Override
public boolean startRecordPackage(int id, int duration, int type, int bduration) {
return sendRecordData(id, duration, type, true, bduration);
return sendRecordData(id, duration, type, true, bduration, null);
}
@Override
public boolean startRecordPackage(int id, int type, List<String> topics) {
return sendRecordData(id, 0, type, true, -1, topics);
}
@Override
public boolean startRecordPackage(int id, int duration, int type, List<String> topics) {
return sendRecordData(id, duration, type, true, -1, topics);
}
@Override
public boolean startRecordPackage(int id, int duration, int type, int bduration, List<String> topics) {
return sendRecordData(id, duration, type, true, bduration, topics);
}
@Override
public boolean stopRecordPackage(int id, int type) {
return sendRecordData(id, 0, type, false, -1);
}
/**
* 选择具体topics进行录制
* @param id
* @param duration
* @param type
* @param bduration
* @param topics
* @return
*/
@Override
public boolean startRecordPackage(int id, int duration, int type, int bduration, List<String> topics) {
boolean sustain = false;
if (duration <= 0) {
duration = 0;
sustain = true;
}
MessagePad.RecordData.Builder builder = MessagePad.RecordData
.newBuilder()
.setId(id)
.setDuration(duration)
.setType(type)
.setIsRecord(true)
.setSustain(sustain)
.addAllTopics(topics);
if (bduration > -1) {
builder.setBduration(bduration);
}
MessagePad.RecordData req = builder.build();
return sendPBMessage(MessageType.TYPE_SEND_RECORD_DATA.typeCode, req.toByteArray());
return sendRecordData(id, 0, type, false, -1, null);
}
/**
@@ -882,10 +865,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param bduration 前溯时长
* @param sustain 是否持续采集
* @param topics 要录制的Topic列表
* @return boolean
*/
@Override
public boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration) {
public boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration, List<String> topics) {
boolean sustain = false;
if (isRecord) {
if (duration <= 0) {
@@ -903,6 +887,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
if (bduration > -1) {
builder.setBduration(bduration);
}
if (topics != null && !topics.isEmpty()) {
builder.addAllTopics(topics);
}
MessagePad.RecordData req = builder.build();
return sendPBMessage(MessageType.TYPE_SEND_RECORD_DATA.typeCode, req.toByteArray());
}

45
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -333,6 +333,7 @@ public class AdasManager implements IAdasNetCommApi {
* 同下
*
* @param id
* @param duration
* @param type
* @return
*/
@@ -345,7 +346,9 @@ public class AdasManager implements IAdasNetCommApi {
* 同下
*
* @param id
* @param duration
* @param type
* @param bduration
* @return
*/
@Override
@@ -353,6 +356,43 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.startRecordPackage(id, duration, type, bduration);
}
/**
* 同下
*
* @param id
* @param type
* @param topics
* @return
*/
@Override
public boolean startRecordPackage(int id, int type, List<String> topics) {
return mChannel != null && mChannel.startRecordPackage(id, type, topics);
}
/**
* 同下
*
* @param id
* @param duration
* @param type
* @param topics
* @return
*/
@Override
public boolean startRecordPackage(int id, int duration, int type, List<String> topics) {
return mChannel != null && mChannel.startRecordPackage(id, duration, type, topics);
}
/**
* 同下
*
* @param id
* @param duration
* @param type
* @param bduration
* @param topics
* @return
*/
@Override
public boolean startRecordPackage(int id, int duration, int type, int bduration, List<String> topics) {
return mChannel != null && mChannel.startRecordPackage(id, duration, type, bduration, topics);
@@ -381,8 +421,8 @@ public class AdasManager implements IAdasNetCommApi {
* @return boolean
*/
@Override
public boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration) {
return mChannel != null && mChannel.sendRecordData(id, duration, type, isRecord, bduration);
public boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration, List<String> topics) {
return mChannel != null && mChannel.sendRecordData(id, duration, type, isRecord, bduration, topics);
}
/**
@@ -578,6 +618,7 @@ public class AdasManager implements IAdasNetCommApi {
/**
* 绕障开关和速度控制
*
* @param type
* @param value
*/

23
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -133,6 +133,26 @@ public interface IAdasNetCommApi {
*/
boolean startRecordPackage(int id, int duration, int type, int bduration);
/**
* 同下
*
* @param id
* @param type
* @param topics
* @return 加入WS发送消息队列是否成功
*/
boolean startRecordPackage(int id, int type, List<String> topics);
/**
* 同下
*
* @param id
* @param type
* @param topics
* @return 加入WS发送消息队列是否成功
*/
boolean startRecordPackage(int id, int duration, int type, List<String> topics);
/**
* 同下
*
@@ -140,6 +160,7 @@ public interface IAdasNetCommApi {
* @param duration
* @param type
* @param bduration
* @param topics
* @return 加入WS发送消息队列是否成功
*/
boolean startRecordPackage(int id, int duration, int type, int bduration, List<String> topics);
@@ -163,7 +184,7 @@ public interface IAdasNetCommApi {
* @param bduration 前溯时长
* @return 加入WS发送消息队列是否成功
*/
boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration);
boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration, List<String> topics);
/**
* 设置自动驾驶最大速度