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[3.4.0][mogo-adas]Taxi和清扫车共用后摄像头接口，改为主动订阅接口方式

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xinfengkun
2023-07-12 16:02:41 +08:00
parent 494a3e51db
commit cfc36e03a3
15 changed files with 78 additions and 51 deletions
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4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -261,8 +261,8 @@ public interface OnAdasListener {
// void onFSMStatusReasonRespond(@NonNull MessagePad.Header header, @NonNull FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond respond);
/**
* 清扫车后部摄像头视频 10Hz
*
* 后部摄像头视频 10Hz
* 目前用于清扫车后摄像头和Taxi右右后摄像头
* @param header 头
* @param data 数据
*/

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
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@@ -28,7 +28,7 @@ public enum MessageType {
TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "清扫车后摄像头"),
TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "后摄像头"),
TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
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@@ -9,7 +9,8 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
/**
* 清扫车后摄像头 10Hz
* 清扫车和Taxi后摄像头
* 需要主动订阅，否则工控机不会发送此数据
*/
public class BackCameraVideoMessage extends MyAbstractMessageHandler {
@@ -21,13 +22,13 @@ public class BackCameraVideoMessage extends MyAbstractMessageHandler {
int len = raw.getPackageLengthValue() - raw.getOffsetValue();
byte[] data = new byte[len];
System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
AdasChannel.calculateTimeConsumingOnDispatchRaw("清扫车后摄像头", raw.receiveTime);
AdasChannel.calculateTimeConsumingOnDispatchRaw("后摄像头", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onBackCameraVideo(raw.getHeader(), data);
}
AdasChannel.calculateTimeConsumingBusiness("清扫车后摄像头", nowTime);
AdasChannel.calculateTimeConsumingBusiness("后摄像头", nowTime);
}
}

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java
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@@ -10,6 +10,7 @@ import com.zhidao.support.adas.high.protocol.RawData;
/**
* M1拼接视频 10Hz
* 需要主动订阅，否则工控机不会发送此数据
*/
public class M1StitchedVideoMessage extends MyAbstractMessageHandler {

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
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@@ -139,8 +139,8 @@ public class SubscribeInterface {
if (types.length > 0) {
for (MessageType messageType : types) {
if (messageType.name().toLowerCase().contains("type_receive")) {
//连接成功后只有M1拼接视频接收接口默认不进行订阅，其他接收接口默认自动订阅
if (messageType == MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO) {
//连接成功后只有M1拼接视频接收接口和后摄像头接口默认不进行订阅，其他接收接口默认自动订阅
if (messageType == MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO || messageType == MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO) {
unsubscribedInterface.put(messageType, messageType.typeCode.getNumber());
} else {
subscribedInterface.put(messageType, messageType.typeCode.getNumber());