diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt index 3e05f310ca..361c88dcbe 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt @@ -7,6 +7,7 @@ import chassis.ChassisStatesOuterClass import com.amap.api.maps.model.LatLng import com.mogo.eagle.core.data.map.MogoLocation import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_ENABLE +import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant @@ -36,6 +37,7 @@ import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon +import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel @@ -143,7 +145,10 @@ class SweeperFragment : BaseSweeperTabFragment val isAutoPoilotState = - mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE + mPresenter?.autopilotState == STATUS_AUTOPILOT_RUNNING when { suspendSub.taskModel == TaskModel.MANUAL -> { ttsString = "云端恢复任务，请继续手动驾驶完成任务！" diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java index 8cfff0e946..344cf5b9c3 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java @@ -646,6 +646,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { if (status == 0x00) {//判断工控机重连后，获取当前正在执行的子任务,延时10秒，防止工控机连接上时SN为空 + CallerAutoPilotControlManager.INSTANCE.setIsSubscribeBackCameraVideoVideo(0, false);//TODO 当前3.2.0版本产品未规划后摄像头展示功能 UiThreadHandler.postDelayed(() -> { getCurrentTask(); }, 10000); diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt index 09af70c1de..3295ab76a0 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt @@ -64,7 +64,7 @@ class SweeperCurrentTaskInfoView : ConstraintLayout { /** * 根据当前自动驾驶状态，更新【请求进入自动驾驶】按钮样式 */ - fun updateStartAutoPilotBtnState(autopilotState: Int) { + fun updateStartAutoPilotBtnByAutoPilotState(autopilotState: Int) { when (autopilotState) { //不可自动驾驶 IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> { @@ -90,102 +90,119 @@ class SweeperCurrentTaskInfoView : ConstraintLayout { } /** - * 设置当前任务数据 + * 根据 当前自动驾驶状态-是否是自动驾驶子任务-子任务是否在运行，更新【请求进入自动驾驶】按钮样式 */ - @SuppressLint("SetTextI18n") - fun setData( - taskInfo: TaskInfo?, - currentPosition: Int = -1 + fun updateStartAutoPilotBtnByAutoPilotState( + isManualAutoPilotState: Boolean, + isAutoSubTask: Boolean, + isSubTaskRunning: Boolean ) { - // 更新 任务名称、任务时间 - taskInfo?.apply { - this@SweeperCurrentTaskInfoView.listTask = subListList - tvTaskName.text = taskName - val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime) - val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime) - tvTaskTime.text = - "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${ - DateTimeUtil.formatCalendarToString( - calendarEnd, - DateTimeUtil.HH_mm - ) - }" - } - // 更新大任务状态 - updateTaskStateText(taskInfo?.taskStatus ?: TaskStatus.TO_START) - // 更新子任务列表 - listTask?.let { - //特殊处理当前暂无执行中任务的情况 - if (currentPosition == -1) { - setCurrentData(currentPosition + 1) - } else { - setCurrentData(currentPosition) - } + if (isManualAutoPilotState && isAutoSubTask && isSubTaskRunning) { + tvStartAuto.setTextColor(Color.parseColor("#FFFFFFFF")) + tvStartAuto.isSelected = true + } else { + tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF")) + tvStartAuto.isSelected = false } } - /** - * 设置任务的状态 - */ - private fun updateTaskStateText(taskStatus: SweeperCommon.TaskStatus) { - when (taskStatus) { - SweeperCommon.TaskStatus.RUNNING -> { - tvTaskState.text = "任务执行中" - tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working) + /** + * 设置当前任务数据 + */ + @SuppressLint("SetTextI18n") + fun setData( + taskInfo: TaskInfo?, + currentPosition: Int = -1 + ) { + // 更新 任务名称、任务时间 + taskInfo?.apply { + this@SweeperCurrentTaskInfoView.listTask = subListList + tvTaskName.text = taskName + val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime) + val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime) + tvTaskTime.text = + "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${ + DateTimeUtil.formatCalendarToString( + calendarEnd, + DateTimeUtil.HH_mm + ) + }" } - - SweeperCommon.TaskStatus.SUSPENDED -> { - tvTaskState.text = "任务已暂停" - tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready) - } - - else -> { - tvTaskState.text = "任务待开始" - tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready) - } - } - } - - /** - * 填充数据 - */ - private fun setCurrentData(currentPosition: Int) { - listTask?.let { - if (it.size == 1) { - preSubTask.setData(it[currentPosition], isLastTask = true) - currentSubTask.visibility = View.INVISIBLE - lastSubTask.visibility = View.INVISIBLE - } else if (it.size == 2) { - if (currentPosition == 0) { - preSubTask.setData(it[currentPosition]) - currentSubTask.setData(it[1], isLastTask = true) + // 更新大任务状态 + updateTaskStateText(taskInfo?.taskStatus ?: TaskStatus.TO_START) + // 更新子任务列表 + listTask?.let { + //特殊处理当前暂无执行中任务的情况 + if (currentPosition == -1) { + setCurrentData(currentPosition + 1) } else { - preSubTask.setData(it[currentPosition - 1]) - currentSubTask.setData(it[currentPosition], isLastTask = true) - } - preSubTask.visibility = View.VISIBLE - currentSubTask.visibility = View.VISIBLE - lastSubTask.visibility = View.GONE - } else { - preSubTask.visibility = View.VISIBLE - currentSubTask.visibility = View.VISIBLE - lastSubTask.visibility = View.VISIBLE - //当前正在执行的任务是第一个子任务 - if (currentPosition == 0) { - preSubTask.setData(it[currentPosition]) - currentSubTask.setData(it[1]) - lastSubTask.setData(it[2], isLastTask = true) - //当前正在执行的任务是最后一个子任务 - } else if (currentPosition == it.size - 1) { - preSubTask.setData(it[currentPosition - 2]) - currentSubTask.setData(it[currentPosition - 1]) - lastSubTask.setData(it[currentPosition], isLastTask = true) - } else { - preSubTask.setData(it[currentPosition - 1]) - currentSubTask.setData(it[currentPosition]) - lastSubTask.setData(it[currentPosition + 1], isLastTask = true) + setCurrentData(currentPosition) } } } - } -} \ No newline at end of file + + /** + * 设置任务的状态 + */ + private fun updateTaskStateText(taskStatus: SweeperCommon.TaskStatus) { + when (taskStatus) { + SweeperCommon.TaskStatus.RUNNING -> { + tvTaskState.text = "任务执行中" + tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working) + } + + SweeperCommon.TaskStatus.SUSPENDED -> { + tvTaskState.text = "任务已暂停" + tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready) + } + + else -> { + tvTaskState.text = "任务待开始" + tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready) + } + } + } + + /** + * 填充数据 + */ + private fun setCurrentData(currentPosition: Int) { + listTask?.let { + if (it.size == 1) { + preSubTask.setData(it[currentPosition], isLastTask = true) + currentSubTask.visibility = View.INVISIBLE + lastSubTask.visibility = View.INVISIBLE + } else if (it.size == 2) { + if (currentPosition == 0) { + preSubTask.setData(it[currentPosition]) + currentSubTask.setData(it[1], isLastTask = true) + } else { + preSubTask.setData(it[currentPosition - 1]) + currentSubTask.setData(it[currentPosition], isLastTask = true) + } + preSubTask.visibility = View.VISIBLE + currentSubTask.visibility = View.VISIBLE + lastSubTask.visibility = View.GONE + } else { + preSubTask.visibility = View.VISIBLE + currentSubTask.visibility = View.VISIBLE + lastSubTask.visibility = View.VISIBLE + //当前正在执行的任务是第一个子任务 + if (currentPosition == 0) { + preSubTask.setData(it[currentPosition]) + currentSubTask.setData(it[1]) + lastSubTask.setData(it[2], isLastTask = true) + //当前正在执行的任务是最后一个子任务 + } else if (currentPosition == it.size - 1) { + preSubTask.setData(it[currentPosition - 2]) + currentSubTask.setData(it[currentPosition - 1]) + lastSubTask.setData(it[currentPosition], isLastTask = true) + } else { + preSubTask.setData(it[currentPosition - 1]) + currentSubTask.setData(it[currentPosition]) + lastSubTask.setData(it[currentPosition + 1], isLastTask = true) + } + } + } + } + } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 826b9fd681..b8feba18a0 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -1045,6 +1045,14 @@ class MoGoAutopilotControlProvider : } } + override fun setIsSubscribeBackCameraVideoVideo(role: Int, isSubscribe: Boolean) { + val type = + if (isSubscribe) Constants.SUBSCRIBE_TYPE.SUBSCRIBE else Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE + AdasManager.getInstance().subscribeInterface( + role, type, MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO + ) + } + override fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean { return AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(switchCmd) } 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 c7aaed986d..6330dde1c8 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 @@ -535,7 +535,7 @@ class MoGoAdasListenerImpl : OnAdasListener { * @param data 数据 */ override fun onBackCameraVideo(header: MessagePad.Header, data: ByteArray) { - CallerSweeperFutianBackCameraVideoListenerManager.invokeSweeperFutianBackCameraVideo(data) + CallerBackCameraVideoListenerManager.invokeBackCameraVideo(data) } /** diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt index da9114b729..fedd73722e 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt @@ -21,7 +21,7 @@ import mogo.telematics.pad.MessagePad.SetParamReq import java.util.concurrent.atomic.AtomicInteger import kotlin.concurrent.* -internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener { +internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener { companion object { private const val TAG = "MoGoLookAroundProvider" @@ -58,7 +58,7 @@ internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeper private var job: Job? = null override fun init(ctx: Context) { - CallerSweeperFutianBackCameraVideoListenerManager.addListener(TAG, this) + CallerBackCameraVideoListenerManager.addListener(TAG, this) CallerRoboBusJinlvM1StitchedVideoListenerManager.addListener(TAG, this) CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this) if (AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) { @@ -116,7 +116,7 @@ internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeper } - override fun onSweeperFutianBackCameraVideo(data: ByteArray) { + override fun onBackCameraVideo(data: ByteArray) { if (bitmapWidth.get() == 0 || bitmapHeight.get() == 0) { val options = BitmapFactory.Options() options.inJustDecodeBounds = true diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java index 492a90e6a7..52f4c0c97d 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java @@ -15,18 +15,17 @@ import com.bumptech.glide.load.engine.DiskCacheStrategy; import com.bumptech.glide.request.RequestOptions; import com.bumptech.glide.request.target.CustomTarget; import com.bumptech.glide.request.transition.Transition; +import com.mogo.eagle.core.function.api.autopilot.IMoGoBackCameraVideoListener; import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StitchedVideoListener; -import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener; +import com.mogo.eagle.core.function.call.autopilot.CallerBackCameraVideoListenerManager; import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedVideoListenerManager; -import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianBackCameraVideoListenerManager; import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp; import com.mogo.eagle.core.utilcode.util.ThreadUtils; /** - * 清扫车摄像头展示View 10Hz - * M1拼接视频展示View 10Hz 需要订阅（连接成功后订阅才生效）：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe) + * 图片帧展示View */ -public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener { +public class MogoVideoView extends AppCompatImageView implements IMoGoBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener { private static final String TAG = MogoVideoView.class.getSimpleName(); private final RequestOptions requestOptions = new RequestOptions() .priority(Priority.HIGH) @@ -49,14 +48,14 @@ public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFut @Override protected void onAttachedToWindow() { super.onAttachedToWindow(); - CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this); + CallerBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this); CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.addListener(TAG, this); } @Override protected void onDetachedFromWindow() { super.onDetachedFromWindow(); - CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.removeListener(this); + CallerBackCameraVideoListenerManager.INSTANCE.removeListener(this); CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.removeListener(this); } @@ -90,7 +89,7 @@ public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFut } @Override - public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) { + public void onBackCameraVideo(@NonNull byte[] data) { draw(data); } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index 9397f3bdf8..6ac4fbe357 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt @@ -423,6 +423,13 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider { */ fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean) + /** + * 后摄像头接口订阅 目前用于清扫车后摄像头接口和Taxi右后摄像头接口 + * @param role 角色 详情参见{@link Constants.TERMINAL_ROLE} + * @param isSubscribe 是否订阅 + */ + fun setIsSubscribeBackCameraVideoVideo(role: Int,isSubscribe: Boolean) + fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean fun sendRoboBusJinlvM1AirConditionerCmd( diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBackCameraVideoListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBackCameraVideoListener.kt new file mode 100644 index 0000000000..474e1e4925 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBackCameraVideoListener.kt @@ -0,0 +1,13 @@ +package com.mogo.eagle.core.function.api.autopilot + +/** + * 后摄像头视频数据 + * 目前用于清扫车（福田）后摄像头和Taxi右后摄像头 + * 需要进行接口订阅才能 CallerAutoPilotControlManager.setIsSubscribeBackCameraVideoVideo(role: Int, isSubscribe: Boolean) + */ +interface IMoGoBackCameraVideoListener { + /** + * 后摄像头视频数据 10Hz 每一帧为一张图片 + */ + fun onBackCameraVideo(data: ByteArray) +} \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt deleted file mode 100644 index 225832cf39..0000000000 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt +++ /dev/null @@ -1,11 +0,0 @@ -package com.mogo.eagle.core.function.api.autopilot - -/** - * 清扫车（福田）后摄像头视频数据 - */ -interface IMoGoSweeperFutianBackCameraVideoListener { - /** - * 清扫车（福田）后摄像头视频数据 10Hz 每一帧为一张图片 - */ - fun onSweeperFutianBackCameraVideo(data: ByteArray) -} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt index 8524f6f49b..c33fdea6d1 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt @@ -578,6 +578,15 @@ object CallerAutoPilotControlManager { providerApi?.setIsSubscribeM1StitchedVideo(isSubscribe) } + /** + * 后摄像头接口订阅 目前用于清扫车后摄像头接口和Taxi右后摄像头接口 + * @param role 角色 详情参见{@link Constants.TERMINAL_ROLE} + * @param isSubscribe 是否订阅 + */ + fun setIsSubscribeBackCameraVideoVideo(role: Int, isSubscribe: Boolean) { + providerApi?.setIsSubscribeBackCameraVideoVideo(role, isSubscribe) + } + fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean { return providerApi?.sendRoboBusJinlvM1FrontDoorCmd(switchCmd) ?: false } diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBackCameraVideoListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBackCameraVideoListenerManager.kt new file mode 100644 index 0000000000..ae551ddfe6 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBackCameraVideoListenerManager.kt @@ -0,0 +1,20 @@ +package com.mogo.eagle.core.function.call.autopilot + +import com.mogo.eagle.core.function.api.autopilot.IMoGoBackCameraVideoListener +import com.mogo.eagle.core.function.call.base.CallerBase + +/** + * 后摄像头视频数据 + */ +object CallerBackCameraVideoListenerManager : CallerBase() { + + /** + * 后摄像头视频数据 + */ + fun invokeBackCameraVideo(data: ByteArray) { + M_LISTENERS.forEach { + val listener = it.value + listener.onBackCameraVideo(data) + } + } +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt deleted file mode 100644 index ecf3d4dbff..0000000000 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt +++ /dev/null @@ -1,20 +0,0 @@ -package com.mogo.eagle.core.function.call.autopilot - -import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener -import com.mogo.eagle.core.function.call.base.CallerBase - -/** - * 清扫车（福田）后摄像头视频数据 - */ -object CallerSweeperFutianBackCameraVideoListenerManager : CallerBase() { - - /** - * 后摄像头视频数据 - */ - fun invokeSweeperFutianBackCameraVideo(data: ByteArray) { - M_LISTENERS.forEach { - val listener = it.value - listener.onSweeperFutianBackCameraVideo(data) - } - } -} \ No newline at end of file diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 40b79e0859..777e57e47a 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -261,7 +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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java index 28bcb8c74c..8b3d310d69 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java @@ -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"), diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java index e14eaf9671..37615bd09c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java @@ -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); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java index e6a66f39ea..612079f787 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java @@ -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 { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java index 4c23c3065d..2e7dca9179 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java @@ -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());