From 9f47d1ed6b2e078be8821ec9976c7eabfb768609 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Tue, 9 May 2023 15:20:18 +0800 Subject: [PATCH] =?UTF-8?q?[adas]=20=E6=B7=BB=E5=8A=A0M1=E6=8B=BC=E6=8E=A5?= =?UTF-8?q?=E8=A7=86=E9=A2=91=E6=8E=A5=E6=94=B6=E6=8E=A5=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/proto/message_pad.proto | 4 +++ .../support/adas/high/OnAdasListener.java | 13 ++++++++ .../support/adas/high/common/MessageType.java | 1 + .../adas/high/msg/BackCameraVideoMessage.java | 2 +- .../adas/high/msg/M1StitchedVideoMessage.java | 33 +++++++++++++++++++ .../adas/high/msg/MyMessageFactory.java | 9 ++++- 6 files changed, 60 insertions(+), 2 deletions(-) create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java 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 675d7b66ce..631aee93b6 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 77c63a0bfe..6e0e3d6460 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -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 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java index 962a36e698..784c9f22a0 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java @@ -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"), diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java index 835597daff..e14eaf9671 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java @@ -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 { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java new file mode 100644 index 0000000000..32908a8593 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java @@ -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); + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index 1cc9cb3744..1cb5b0dc9c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -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; }