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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
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