yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[change] 点云接口 移除Header，只保留点云byte[]

Browse Source
This commit is contained in:
xinfengkun
2022-06-24 15:49:19 +08:00
committed by liujing
parent 6ce126f48c
commit d377c5b49e
4 changed files with 21 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -308,11 +308,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
*/
@Override
public void onDispatchRaw(String threadName, RawData raw) {
//分发点云原始数据
if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
mAdasListener.onPointCloud(raw.originalData.toByteArray());
} else {
try {
try {
//分发点云原始数据
if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
int len = raw.getPackageLengthValue() - raw.getOffsetValue();
byte[] bytes = new byte[len];
System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), bytes, 0, len);
mAdasListener.onPointCloud(bytes);
} else {
if (rawUnpack != null) {
if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
MessagePad.Header header = raw.getHeader();
@@ -327,10 +330,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
}
}
} catch (Exception e) {
callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
}
} catch (Exception e) {
callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
}
}

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -100,7 +100,7 @@ public interface OnAdasListener {
/**
* 透传的点云数据
*
* @param pointCloud 原始数据 包括Header+pointCloud
* @param pointCloud 原始数据 只包含PointCloud数据
*/
void onPointCloud(byte[] pointCloud);