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A、增加点云动态订阅功能

Signed-off-by: “donghongyu-mackbook” <donghongyu@zhidaoauto.com>
This commit is contained in:
“donghongyu-mackbook”
2022-08-25 15:29:48 +08:00
parent b6b77e8b02
commit cb054276b5
4 changed files with 33 additions and 6 deletions
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20
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -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 :