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[adas] 添加M1拼接视频接收接口

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This commit is contained in:
xinfengkun
2023-05-09 15:20:18 +08:00
parent 3d23a1fd59
commit 9f47d1ed6b
6 changed files with 60 additions and 2 deletions
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4
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -31,6 +31,7 @@ enum MessageType
MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
MsgTypeBackCameraVideo = 0x1000d; //清扫车后部摄像头视频 10hz
MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 10hz
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -646,6 +647,9 @@ message PlanningCmd
//message definition for MsgTypeBackCameraVideo
//payload:jpeg data
//message definition for MsgTypeM1StitchedVideo
//payload:jpeg data
//message definition for MsgTypeV2nCongestionEvent
//refer to RSI_PB in mogo_v2x.proto for details

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -4,6 +4,7 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.common.MessageType;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
@@ -357,6 +358,18 @@ public interface OnAdasListener {
*/
void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager);
/**
* M1拼接视频 10Hz
* 此接口需要订阅，默认不发送数据
* 订阅调用：{@link AdasManager#subscribeInterface(int, int, MessageType)}
* 订阅参数：AdasManager.getInstance().subscribeInterface(Constants.TERMINAL_ROLE.DRIVER, Constants.SUBSCRIBE_TYPE.SUBSCRIBE, MessageType。TYPE_RECEIVE_M1_STITCHED_VIDEO);
* 取消订阅参数：AdasManager.getInstance().subscribeInterface(Constants.TERMINAL_ROLE.DRIVER, Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE, MessageType。TYPE_RECEIVE_M1_STITCHED_VIDEO);
*
* @param header 头
* @param data 数据
*/
void onM1StitchedVideo(@NonNull MessagePad.Header header, @NonNull byte[] data);
/**
* 是否有能力启动自动驾驶
*

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
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@@ -26,6 +26,7 @@ public enum MessageType {
TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "清扫车后摄像头"),
TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
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"),

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
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@@ -9,7 +9,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
/**
* 清扫车后摄像头
* 清扫车后摄像头 10Hz
*/
public class BackCameraVideoMessage extends MyAbstractMessageHandler {

33
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java Normal file
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@@ -0,0 +1,33 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
/**
* M1拼接视频 10Hz
*/
public class M1StitchedVideoMessage extends MyAbstractMessageHandler {
public M1StitchedVideoMessage() {
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
int len = raw.getPackageLengthValue() - raw.getOffsetValue();
byte[] data = new byte[len];
System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
AdasChannel.calculateTimeConsumingOnDispatchRaw("M1StitchedVideoMessage", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onM1StitchedVideo(raw.getHeader(), data);
}
AdasChannel.calculateTimeConsumingBusiness("M1StitchedVideoMessage", nowTime);
}
}

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -39,6 +39,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg backCameraVideoMessage;//清扫车后摄像头
private IMsg pointCloudMessage;//3D点云
private IMsg sweeperCloudTaskMessage;//云控下发清扫车任务指令
private IMsg m1StitchedVideoMessage;//M1拼接视频
private final AutopilotReview autopilotReview;
@@ -204,7 +205,13 @@ public class MyMessageFactory implements IMyMessageFactory {
sweeperCloudTaskMessage = new SweeperCloudTaskMessage();
}
return sweeperCloudTaskMessage;
} else {
} else if (messageType == MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO.typeCode) {
//清扫车后摄像头
if (m1StitchedVideoMessage == null) {
m1StitchedVideoMessage = new M1StitchedVideoMessage();
}
return m1StitchedVideoMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;
}