yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[m1] 添加M1拼接视频数据订阅接口、清扫车摄像头View和M1摄像头View共用

Browse Source
This commit is contained in:
xinfengkun
2023-05-09 15:33:08 +08:00
parent 9f47d1ed6b
commit bb22ec10d5
9 changed files with 102 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
View File

@@ -100,7 +100,7 @@
android:layout_marginTop="@dimen/dp_27"
app:roundLayoutRadius="@dimen/dp_16"
>
<com.mogo.eagle.core.function.hmi.ui.widget.SweeperVideoView
<com.mogo.eagle.core.function.hmi.ui.widget.MogoVideoView
android:id="@+id/sweeper_video_view"
android:layout_width="match_parent"
android:layout_height="@dimen/dp_401"

16
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -922,6 +922,22 @@ class MoGoAutopilotControlProvider :
}
}
override fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean) {
if (isSubscribe) {
AdasManager.getInstance().subscribeInterface(
Constants.TERMINAL_ROLE.DRIVER,
Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO
)
} else {
AdasManager.getInstance().subscribeInterface(
Constants.TERMINAL_ROLE.DRIVER,
Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE,
MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO
)
}
}
override fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(switchCmd)
}

14
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -742,6 +742,20 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
/**
* 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
*/
override fun onM1StitchedVideo(header: MessagePad.Header, data: ByteArray) {
CallerRoboBusJinlvM1StitchedVideoListenerManager.invokeRoboBusJinlvM1StitchedVideo(data)
}
/**
* 是否可以启动自动驾驶
* 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility

37
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java → core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java
View File

@@ -15,31 +15,34 @@ import com.bumptech.glide.load.engine.DiskCacheStrategy;
import com.bumptech.glide.request.RequestOptions;
import com.bumptech.glide.request.target.CustomTarget;
import com.bumptech.glide.request.transition.Transition;
import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StitchedVideoListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener;
import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedVideoListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianBackCameraVideoListenerManager;
import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
/**
* 清扫车摄像头展示View
* 清扫车摄像头展示View 10Hz
* M1拼接视频展示View 10Hz 需要订阅此数据：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe)
*/
public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener {
private static final String TAG = SweeperVideoView.class.getSimpleName();
public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener {
private static final String TAG = MogoVideoView.class.getSimpleName();
private final RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
.skipMemoryCache(true)
.diskCacheStrategy(DiskCacheStrategy.NONE)
.dontAnimate();
public SweeperVideoView(@NonNull Context context) {
public MogoVideoView(@NonNull Context context) {
super(context);
}
public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs) {
public MogoVideoView(@NonNull Context context, @Nullable AttributeSet attrs) {
super(context, attrs);
}
public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
public MogoVideoView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
super(context, attrs, defStyleAttr);
}
@@ -47,12 +50,14 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper
protected void onAttachedToWindow() {
super.onAttachedToWindow();
CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this);
CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.addListener(TAG, this);
}
@Override
protected void onDetachedFromWindow() {
super.onDetachedFromWindow();
CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.removeListener(this);
CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.removeListener(this);
}
private final CustomTarget<Bitmap> target = new CustomTarget<Bitmap>() {
@@ -60,7 +65,7 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper
public void onResourceReady(@NonNull Bitmap resource, @Nullable Transition<? super Bitmap> transition) {
//回调内容
if (!resource.isRecycled()) {
SweeperVideoView.this.setImageBitmap(resource);
MogoVideoView.this.setImageBitmap(resource);
}
}
@@ -70,18 +75,28 @@ public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeper
}
};
@Override
public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
private void draw(@NonNull byte[] data) {
ThreadUtils.runOnUiThread(new Runnable() {
@Override
public void run() {
GlideApp.with(SweeperVideoView.this)
GlideApp.with(MogoVideoView.this)
.asBitmap()
.load(data)
.placeholder(SweeperVideoView.this.getDrawable())
.placeholder(MogoVideoView.this.getDrawable())
.apply(requestOptions)
.into(target);
}
});
}
@Override
public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
draw(data);
}
@Override
public void onRoboBusJinlvM1StitchedVideo(@NonNull byte[] data) {
draw(data);
}
}

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -367,6 +367,12 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun setIsDrawPointCloud(isDrawPointCloud: Boolean)
/**
* 设置M1拼接视频接口订阅
* @param isSubscribe 是否订阅
*/
fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean)
fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean
fun sendRoboBusJinlvM1AirConditionerCmd(

11
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StitchedVideoListener.kt Normal file
View File

@@ -0,0 +1,11 @@
package com.mogo.eagle.core.function.api.autopilot
/**
* M1拼接视频 10Hz
*/
interface IMoGoRoboBusJinlvM1StitchedVideoListener {
/**
* 金旅M1拼接视频数据 10Hz 每一帧为一张图片
*/
fun onRoboBusJinlvM1StitchedVideo(data: ByteArray)
}

8
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -511,6 +511,14 @@ object CallerAutoPilotControlManager {
providerApi?.setIsDrawPointCloud(isDrawPointCloud)
}
/**
* 设置M1拼接视频接口订阅
* @param isSubscribe 是否订阅
*/
fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean) {
providerApi?.setIsSubscribeM1StitchedVideo(isSubscribe)
}
fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
return providerApi?.sendRoboBusJinlvM1FrontDoorCmd(switchCmd) ?: false
}

20
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StitchedVideoListenerManager.kt Normal file
View File

@@ -0,0 +1,20 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StitchedVideoListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* 清扫车（福田）后摄像头视频数据
*/
object CallerRoboBusJinlvM1StitchedVideoListenerManager : CallerBase<IMoGoRoboBusJinlvM1StitchedVideoListener>() {
/**
* 后摄像头视频数据
*/
fun invokeRoboBusJinlvM1StitchedVideo(data: ByteArray) {
M_LISTENERS.forEach {
val listener = it.value
listener.onRoboBusJinlvM1StitchedVideo(data)
}
}
}

3
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
View File

@@ -1,9 +1,6 @@
package com.mogo.eagle.core.function.call.autopilot
import chassis.ChassisStatesOuterClass
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**