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[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

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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
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16
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -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);
}
}