From 9aa751bfdac5fdc5d01c10eb09ee8931c4021ae5 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Tue, 18 Oct 2022 20:30:48 +0800 Subject: [PATCH] =?UTF-8?q?[change]=20=E6=9B=B4=E6=96=B0=E4=B8=BB=E5=8A=A8?= =?UTF-8?q?=E5=BD=95=E5=88=B6bag=E5=8C=85=E9=87=8D=E8=BD=BD=E6=96=B9?= =?UTF-8?q?=E6=B3=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/proto/message_pad.proto | 6 +- .../zhidao/support/adas/high/AdasChannel.java | 61 ++++++++----------- .../zhidao/support/adas/high/AdasManager.java | 45 +++++++++++++- .../support/adas/high/IAdasNetCommApi.java | 23 ++++++- 4 files changed, 92 insertions(+), 43 deletions(-) diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 0dc400ce96..95144e2943 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 5b4af674c5..d514fd243d 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -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 topics) { + return sendRecordData(id, 0, type, true, -1, topics); + } + + @Override + public boolean startRecordPackage(int id, int duration, int type, List topics) { + return sendRecordData(id, duration, type, true, -1, topics); + } + + @Override + public boolean startRecordPackage(int id, int duration, int type, int bduration, List 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 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 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()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index 3099a30f14..5250674d7d 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -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 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 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 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 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 */ diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 1921831a6e..43125d6093 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -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 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 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 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 topics); /** * 设置自动驾驶最大速度