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[change] 点云接口 移除Header，只保留点云byte[]

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This commit is contained in:
xinfengkun
2022-06-24 15:49:19 +08:00
parent f35fb9a15e
commit b30ff9c1d0
4 changed files with 21 additions and 10 deletions
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8
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -43,6 +43,8 @@ import androidx.recyclerview.widget.LinearLayoutManager;
import androidx.recyclerview.widget.RecyclerView;
import androidx.recyclerview.widget.SimpleItemAnimator;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.TextFormat;
import com.mogo.telematic.MogoProtocolMsg;
import com.mogo.telematic.NSDNettyManager;
import com.mogo.telematic.client.listener.NettyClientListener;
@@ -854,6 +856,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onPointCloud(byte[] pointCloud) {
// try {
// MogoPointCloudOuterClass.MogoPointCloud bean = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
// Log.i("ddd","MogoPointCloud="+ TextFormat.printer().escapingNonAscii(false).printToString(bean));
// } catch (InvalidProtocolBufferException e) {
// e.printStackTrace();
// }
OriginalPointCloudData base = new OriginalPointCloudData(pointCloud);
DataDistribution.getInstance().addData(base);
}

2
gradle.properties
View File

@@ -164,7 +164,7 @@ MOGO_V2X_SDK_VERSION=1.4.3.6
# ADAS LIB Maven配置（用于地图部门测试使用，鹰眼项目中使用本地依赖） #
ADAS_LIB_GROUP=com.zhidao.support.adas
ADAS_LIB_POM_ARTIFACT_ID=high
ADAS_LIB_CHILD_VERSION=.0
ADAS_LIB_CHILD_VERSION=.1
ADAS_DATA_LIB_GROUP=com.zhjt.mogo.adas.data
ADAS_DATA_LIB_POM_ARTIFACT_ID=adas-data

19
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -308,11 +308,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
*/
@Override
public void onDispatchRaw(String threadName, RawData raw) {
//分发点云原始数据
if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
mAdasListener.onPointCloud(raw.originalData.toByteArray());
} else {
try {
try {
//分发点云原始数据
if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
int len = raw.getPackageLengthValue() - raw.getOffsetValue();
byte[] bytes = new byte[len];
System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), bytes, 0, len);
mAdasListener.onPointCloud(bytes);
} else {
if (rawUnpack != null) {
if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
MessagePad.Header header = raw.getHeader();
@@ -327,10 +330,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
}
}
} catch (Exception e) {
callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
}
} catch (Exception e) {
callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
}
}

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -100,7 +100,7 @@ public interface OnAdasListener {
/**
* 透传的点云数据
*
* @param pointCloud 原始数据 包括Header+pointCloud
* @param pointCloud 原始数据 只包含PointCloud数据
*/
void onPointCloud(byte[] pointCloud);