[Change]

A、增加点云动态订阅功能

Signed-off-by: “donghongyu-mackbook” <donghongyu@zhidaoauto.com>

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt

@@ -51,7 +51,9 @@ import com.zhidao.support.adas.high.OnMultiDeviceListener
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
+import com.zhidao.support.adas.high.common.MessageType
 import com.zhidao.support.adas.high.common.MogoReport
+import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants
 import io.netty.channel.Channel
@@ -86,12 +88,22 @@ class MoGoAutopilotProvider :
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
             // 注册地图采集功能
             CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
+
+            // 配置默认关闭的连接topic
+            val messageTypes: MutableSet<MessageType> = HashSet()
+            messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
+            val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
+                    .setRole(Constants.TERMINAL_ROLE.DRIVER)
+                    .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
+                    .setMessageTypes(messageTypes).build()
+
             // "192.168.1.102"
             val options = AdasOptions.Builder()
-                .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
-                .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
-                .setClient(false)
-                .build()
+                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
+                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
+                    .setClient(false)
+                    .setSubscribeInterfaceOptions(subscribeInterfaceOptions)
+                    .build()
 
             AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
             NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :

core/function-impl/mogo-core-function-map/build.gradle

@@ -53,7 +53,6 @@ dependencies {
     implementation rootProject.ext.dependencies.rxandroid
 
     kapt rootProject.ext.dependencies.aroutercompiler
-    //implementation rootProject.ext.dependencies.adasHigh
     implementation (rootProject.ext.dependencies.mogocustommapoperational) {
         exclude group: 'com.zhidaoauto.machine', module: 'map'
     }

core/mogo-core-function-call/build.gradle

@@ -56,6 +56,7 @@ dependencies {
         implementation rootProject.ext.dependencies.mogo_core_function_api
         implementation rootProject.ext.dependencies.mogoserviceapi
     } else {
+        implementation project(':libraries:mogo-adas')
         implementation project(':core:mogo-core-data')
         implementation project(':core:mogo-core-utils')
         implementation project(':core:mogo-core-function-api')

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerHDMapManager.kt

@@ -7,6 +7,9 @@ import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
 import com.mogo.eagle.core.data.map.CenterLine
 import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.zhidao.support.adas.high.AdasManager
+import com.zhidao.support.adas.high.common.Constants
+import com.zhidao.support.adas.high.common.MessageType
 
 /**
  * @author xiaoyuzhou
@@ -67,6 +70,18 @@ object CallerHDMapManager : CallerBase() {
      * @param isDrawPointCloud 是否绘制点云
      */
     fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
+        if (isDrawPointCloud) {
+            AdasManager.getInstance().subscribeInterface(
+                    Constants.TERMINAL_ROLE.DRIVER,
+                    Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
+                    MessageType.TYPE_RECEIVE_POINT_CLOUD)
+        } else {
+            AdasManager.getInstance().subscribeInterface(
+                    Constants.TERMINAL_ROLE.DRIVER,
+                    Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE,
+                    MessageType.TYPE_RECEIVE_POINT_CLOUD)
+        }
+
         FunctionBuildConfig.isDrawPointCloudData = isDrawPointCloud
         return mapProviderApi.setIsDrawPointCloud(isDrawPointCloud)
     }
@@ -92,7 +107,7 @@ object CallerHDMapManager : CallerBase() {
      * 设置地图是否是Debug模式
      * @param debugMode 是否开启Debug模式
      */
-    fun setDebugMode(debugMode: Boolean){
+    fun setDebugMode(debugMode: Boolean) {
         return mapProviderApi.setDebugMode(debugMode)
     }
 }