From d235abdadb89b3937247c5ccaa10bc3363d0c063 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Mon, 24 Jun 2024 17:56:27 +0800 Subject: [PATCH] =?UTF-8?q?[650][adas]=20=E6=9B=B4=E6=96=B0=E7=BA=A2?= =?UTF-8?q?=E7=BB=BF=E7=81=AFPB=EF=BC=8C=E6=96=B0=E5=A2=9E=E8=9E=8D?= =?UTF-8?q?=E5=90=88=E6=95=B0=E6=8D=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 6 +-- .../datacenter/v2x/TrafficLightDispatcher.kt | 17 ++++---- .../IMoGoAutopilotIdentifyListener.kt | 6 +-- .../CallerAutopilotIdentifyListenerManager.kt | 6 +-- .../zhjt/mogo/adas/common/MessageType.java | 2 +- .../src/main/proto/fusion_traffic_light.proto | 43 +++++++++++++++++++ .../src/main/proto/message_pad.proto | 4 +- .../src/main/proto/traffic_light.proto | 43 ------------------- .../support/adas/high/OnAdasListener.java | 6 +-- .../msg/PerceptionTrafficLightMessage.java | 11 ++--- 10 files changed, 72 insertions(+), 72 deletions(-) create mode 100644 libraries/mogo-adas-data/src/main/proto/fusion_traffic_light.proto delete mode 100644 libraries/mogo-adas-data/src/main/proto/traffic_light.proto diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index c04b1ac032..b1be98a2d6 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -83,7 +83,7 @@ import mogo.v2x.MogoV2X import mogo.v2x.RoadOverviewEvents import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass import mogo_msg.MogoReportMsg -import perception.TrafficLightOuterClass +import perception.FusionTrafficLightOuterClass import planning.RoboSweeperTaskIndexOuterClass import prediction.Prediction import record_cache.RecordPanelOuterClass @@ -330,10 +330,10 @@ class MoGoAdasListenerImpl : OnAdasListener { } } - //感知红绿灯 + //融合感知红绿灯 override fun onPerceptionTrafficLight( header: MessagePad.Header?, - trafficLights: TrafficLightOuterClass.TrafficLights? + trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights? ) { if (trafficLights != null) { CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight( diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt index a30f8293b6..78a782c962 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt @@ -28,8 +28,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant import com.mogo.eagle.core.utilcode.util.GsonUtils import com.mogo.eagle.core.utilcode.util.UiThreadHandler import com.zhjt.service.chain.ChainLog -import perception.TrafficLightOuterClass -import perception.TrafficLightOuterClass.TrafficLight +import perception.FusionTrafficLightOuterClass fun TrafficLightStatus.convert(): TrafficLightEnum { return when { @@ -40,12 +39,12 @@ fun TrafficLightStatus.convert(): TrafficLightEnum { } } -fun TrafficLight.convert(): TrafficLightEnum { +fun FusionTrafficLightOuterClass.FusionTrafficLight.convert(): TrafficLightEnum { return when (this.state) { - TrafficLightOuterClass.LightState.STATE_GREEN -> TrafficLightEnum.GREEN - TrafficLightOuterClass.LightState.STATE_YELLOW -> TrafficLightEnum.YELLOW - TrafficLightOuterClass.LightState.STATE_RED -> TrafficLightEnum.RED - TrafficLightOuterClass.LightState.STATE_OFF -> TrafficLightEnum.BLACK + FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION -> TrafficLightEnum.GREEN + FusionTrafficLightOuterClass.FusionLightState.STATE_YELLOW_FUSION -> TrafficLightEnum.YELLOW + FusionTrafficLightOuterClass.FusionLightState.STATE_RED_FUSION -> TrafficLightEnum.RED + FusionTrafficLightOuterClass.FusionLightState.STATE_OFF_FUSION -> TrafficLightEnum.BLACK else -> TrafficLightEnum.BLACK } } @@ -96,7 +95,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight * 工控机感知红绿灯 * @param trafficLights 感知红绿灯 */ - override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) { + override fun onAutopilotPerceptionTrafficLight(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?) { CallerLogger.d( "${SceneConstant.M_D_C}${TAG}", "onAutopilotPerceptionTrafficLight ---- hasObuLightStatus = $hasObuLightStatus ----hasAiLightStatus = $hasAiLightStatus , trafficLights : ${trafficLights?:"null"}" @@ -104,7 +103,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight if (!hasObuLightStatus) { if (!hasAiLightStatus) { trafficLights?.let { - var light: TrafficLight? = null + var light: FusionTrafficLightOuterClass.FusionTrafficLight? = null if (it.hasStraight()) { light = it.straight } else if (it.hasLeft()) { diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt index 7e27ffcac1..40c67dccdb 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt @@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.api.autopilot import mogo.telematics.pad.MessagePad import mogo.v2x.* -import perception.TrafficLightOuterClass +import perception.FusionTrafficLightOuterClass /** * @author xiaoyuzhou @@ -24,10 +24,10 @@ interface IMoGoAutopilotIdentifyListener { fun onAutopilotIdentifyPlanningObj(planningObjects: List?){} /** - * 感知红绿灯 + * 融合感知红绿灯 * @param trafficLights 感知红绿灯 */ - fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?){} + fun onAutopilotPerceptionTrafficLight(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?){} /** diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt index 019a7e1e6e..de60c84683 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt @@ -4,7 +4,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener import com.mogo.eagle.core.function.call.base.CallerBase import mogo.telematics.pad.MessagePad import mogo.v2x.* -import perception.TrafficLightOuterClass +import perception.FusionTrafficLightOuterClass /** * 域控制器感知数据 @@ -36,10 +36,10 @@ object CallerAutopilotIdentifyListenerManager : CallerBase