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[650][adas] 更新红绿灯PB，新增融合数据

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This commit is contained in:
xinfengkun
2024-06-24 17:56:27 +08:00
parent db7ae84de6
commit d235abdadb
10 changed files with 72 additions and 72 deletions
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6
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -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(

17
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
View File

@@ -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()) {