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配合修改收不到can数据问题

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lixiaopeng
2021-11-25 15:38:03 +08:00
parent 93c647a198
commit bfd14106e0
5 changed files with 30 additions and 3 deletions
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11
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
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@@ -2,6 +2,7 @@ package com.mogo.module.adas;
import android.util.Log;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
@@ -9,12 +10,14 @@ import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.constants.MoGoConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.storage.SharedPrefsMgr;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
@@ -42,22 +45,28 @@ import java.util.List;
public class OnAdasListenerAdapter implements OnAdasListener {
private final String TAG = "OnAdasListenerAdapter";
@Override
public void onRectData(RectInfo rectInfo) {
ArrayList<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
}
@Override
public void onCarStateData(CarStateInfo carStateInfo) {
Logger.d(TAG, "----1----carStateInfo.toString() = " + carStateInfo.toString());
AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
Logger.d(TAG, "----2----carStateInfo.toString() = " + carStateInfo.toString());
//can数据转发
CarStateInfo.ValuesBean bean = carStateInfo.getValues();
if (bean != null) {
int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
Logger.d(TAG, "onCarStateData ---- turn_light = " + turn_light);
AmiClientManager.getInstance().setTurnLightState(turn_light);
} else {
Logger.e(TAG, "bean == null ");
}
}