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合并dev_MogoAP_eagle-930_210926_8.0.12分支，并将规划全局路径以及引导线按照新架构中的监听合并，测试可用，在工控机上执行sh roadPlanning.sh 使用带有引导线的数据包

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Signed-off-by: 董宏宇 <martindhy@gmail.com>
This commit is contained in:
董宏宇
2021-10-28 15:25:26 +08:00
parent 02f5f7cbee
commit a70eed4475
20 changed files with 377 additions and 471 deletions
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30
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
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@@ -2,12 +2,7 @@ package com.mogo.service.adas;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import java.util.List;
/**
* @author congtaowang
@@ -89,20 +84,6 @@ public interface IMogoADASController extends IProvider {
*/
void removeAdasWarnMessageCallback(IMogoAdasWarnMessageCallback callback);
/**
* 添加adas自动驾驶路线回调
*
* @param callBack
*/
void addAdasAutopilotRouteCallBack(IMogoAdasRouteCallBack callBack);
/**
* 移除adas自动驾驶路线回调
*
* @param callBack
*/
void removeAdasAutopilotRouteCallBack(IMogoAdasRouteCallBack callBack);
/**
* 查询自动驾驶路线
*/
@@ -171,15 +152,4 @@ public interface IMogoADASController extends IProvider {
*/
void cancelAutopilot();
/**
* 添加车前引导线回调
* @param
*/
void addAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
/**
* 移除车前引导线回调
* @param
*/
void removeAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
}

10
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRouteCallBack.java
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@@ -1,10 +0,0 @@
package com.mogo.service.adas;
import com.mogo.eagle.core.data.map.MogoLatLng;
import java.util.List;
public interface IMogoAdasRouteCallBack {
// TODO: 2021/6/23 工控机经纬度 绘制时转成高德经纬度
void routeResult(List<MogoLatLng> routeList);
}

9
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasTrajectoryDataCallBack.java
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@@ -1,9 +0,0 @@
package com.mogo.service.adas;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import java.util.List;
public interface IMogoAdasTrajectoryDataCallBack {
void onAutopilotTrajectory(List<ADASTrajectoryInfo> trajectoryInfo);
}

115
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASTrajectoryInfo.java
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@@ -1,115 +0,0 @@
package com.mogo.service.adas.entity;
/**
* @author song kenan
* @des
* @date 2021/10/21
*/
public class ADASTrajectoryInfo {
//经度
private Double lon;
//纬度
private Double lat;
//高度
private Double alt;
//时间 秒s
private Double time;
//速度 m/s
private Double velocity;
//加速度
private Double acceleration;
//速度方向
private Double theta;
//曲率
private Double kappa;
//从起点到目前的总距离
private Double accumulatedDis;
public void setLon(Double lon) {
this.lon = lon;
}
public void setLat(Double lat) {
this.lat = lat;
}
public void setAlt(Double alt) {
this.alt = alt;
}
public void setTime(Double time) {
this.time = time;
}
public void setVelocity(Double velocity) {
this.velocity = velocity;
}
public void setAcceleration(Double acceleration) {
this.acceleration = acceleration;
}
public void setTheta(Double theta) {
this.theta = theta;
}
public void setKappa(Double kappa) {
this.kappa = kappa;
}
public void setAccumulatedDis(Double accumulatedDis) {
this.accumulatedDis = accumulatedDis;
}
public Double getLon() {
return lon;
}
public Double getLat() {
return lat;
}
public Double getAlt() {
return alt;
}
public Double getTime() {
return time;
}
public Double getVelocity() {
return velocity;
}
public Double getAcceleration() {
return acceleration;
}
public Double getTheta() {
return theta;
}
public Double getKappa() {
return kappa;
}
public Double getAccumulatedDis() {
return accumulatedDis;
}
@Override
public String toString() {
return "TrajectoryModels{" +
"lon=" + lon +
", lat=" + lat +
", alt=" + alt +
", time='" + time + '\'' +
", velocity=" + velocity +
", acceleration=" + acceleration +
", theta=" + theta +
", kappa=" + kappa +
", accumulatedDis=" + accumulatedDis +
'}';
}
}