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[change] 添加数据订阅、取消订阅请求

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This commit is contained in:
xinfengkun
2022-08-02 18:51:14 +08:00
parent 6973324a1f
commit dbd56a89a8
24 changed files with 1325 additions and 74 deletions
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31
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -3,7 +3,7 @@ package mogo.telematics.pad;
enum ProtocolVersion{
Defaultver = 0;
CurrentVersion = 4; //每次修改proto文件增加1
CurrentVersion = 6; //每次修改proto文件增加1
}
enum MessageType
@@ -44,6 +44,8 @@ enum MessageType
MsgTypeSetRainModeReq = 0x10113; //设置雨天模式
MsgTypeRecordDataConfigReq = 0x10114; //数据采集配置查询请求
MsgTypeRecordDataConfigResp = 0x10115; //数据采集配置查询应答
MsgTypeOperatorCmdReq = 0x10116; //操控指令
MsgTypeSubscribeDataReq = 0x10117; //数据订阅、取消订阅请求
}
message Header
@@ -156,6 +158,7 @@ message PlanningObjects
// message definition for MessageType: MsgTypeOBU
// refer to obu.proto
// message definition for MsgTypeTrajectoryDownloadReq
message Line
{
@@ -376,3 +379,29 @@ message RecordDataConfig
repeated RecordDataType recordTypes = 1;
}
// message definition for MsgTypeSubscribeDataReq
message SubscribeDataReq
{
uint32 role = 1; //客户端角色：0: 司机屏，1: 乘客屏，2: 调试屏
uint32 reqType = 2; //1:订阅, 2:取消订阅
repeated uint32 dataTypes = 3; //订阅/取消订阅的消息类型列表, 透传的消息类型参考配置列表，其他消息类型见MsgType
}
// message definition for MsgTypeOperatorCmdReq
enum OperatorCmdType {
OPERATOR_CMD_NONE = 0;
OPERATOR_CMD_CHANGE_LANE = 1;
OPERATOR_CMD_SET_ACCELERATED_SPEED = 2;
OPERATOR_CMD_SET_HORN = 3;
}
message OperatorCmdReq
{
OperatorCmdType cmdType = 1;
double value = 2; //OPERATOR_CMD_CHANGE_LANE: 1: left 2: right
//OPERATOR_CMD_SET_ACCELERATED_SPEED: accelerated speed
//OPERATOR_CMD_SET_HORN: 1: honk 2: stop honking
}

5
libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
View File

@@ -4,8 +4,8 @@ package rule_segement;
import "header.proto";
message MogoPointCloud
{
optional common.Header header = 1;
{
optional common.Header header = 1;
optional double self_longitude = 2;
optional double self_latitude = 3;
optional double self_altitude = 4;
@@ -13,4 +13,5 @@ message MogoPointCloud
optional double self_pitch = 6;
optional double self_yaw = 7;
repeated int32 add_data = 8 [packed=true];
optional double newgpstimestamp = 9;
}

87
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -36,11 +36,13 @@ import com.zhidao.support.adas.high.protocol.RawUnpack;
import com.zhidao.support.adas.high.queue.WSByteQueueManager;
import com.zhidao.support.adas.high.queue.WebSocketQueueManager;
import com.zhidao.support.adas.high.socket.FpgaSocket;
import com.zhidao.support.adas.high.subscribe.SubscribeInterface;
import com.zhidao.support.adas.high.thread.DispatchHandler;
import com.zhjt.service.chain.ChainLog;
import com.zhjt.service.chain.TracingConstants;
import java.util.HashSet;
import java.util.Set;
import java.util.Timer;
import java.util.TimerTask;
import java.util.concurrent.atomic.AtomicInteger;
@@ -60,7 +62,7 @@ import okio.ByteString;
* @UpdateRemark: 更新说明：
* @Version: 1.0
*/
public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IPCFixationIPHelper.IIPCFixationIPListener, DispatchHandler.OnDispatchHandlerListener {
public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IPCFixationIPHelper.IIPCFixationIPListener, DispatchHandler.OnDispatchHandlerListener, SubscribeInterface.OnSubscribeInterfaceListener {
private static final String TAG = AdasChannel.class.getSimpleName();
private static final String THREAD_NAME_DISPATCH_EVENT = "IPCEventDispatchHandler";//除点云单独拆分线程以外都是用此名称
private static final String THREAD_NAME_DISPATCH_POINT_CLOUD = "IPCPointCloudDispatchHandler";
@@ -104,6 +106,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* IPC固定IP查询工具类
*/
private IPCFixationIPHelper ipcFixationIPHelper;
/**
* 工控机接口注册 连接成功后可以进行操作 乘客屏未null
* 乘客屏无法进行注册或取消注册，因为乘客屏无法感知司机屏与工控机连接状态。无法重置已注册或未注册接口列表
*/
private SubscribeInterface subscribeInterface;
public void setOnMultiDeviceListener(OnMultiDeviceListener onMultiDeviceListener) {
this.onMultiDeviceListener = onMultiDeviceListener;
@@ -393,6 +400,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
sendCarConfigReq();
ipcConnectedIp = ipAddress;
ipcConnectedPort = port;
subscribeInterface = new SubscribeInterface(this);
updateConnectStatus(Constants.IPC_CONNECTION_STATUS.CONNECTED, "已连接");
}
@@ -400,6 +408,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
public void onWebSocketConnectFailed(String t) {
ipcConnectedIp = null;
ipcConnectedPort = Constants.DEFAULT_PORT;
subscribeInterface = null;
updateConnectStatus(Constants.IPC_CONNECTION_STATUS.DISCONNECTED, t);
}
@@ -483,9 +492,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
clientPkFileName = "sn")
private void updateConnectStatus(@Define.IPCConnectionStatus int status, @Nullable String reason) {
ipcConnectionStatus.set(status);
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
}
if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
startDispatchHandler();
startCheckCompatibility();
@@ -496,6 +502,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
AdasManager.getInstance().setCarConfig(null);
stopDispatchHandler();
}
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
}
CupidLogUtils.i(TAG, "工控机连接状态 status=" + status + " reason=" + reason);
}
@@ -945,5 +954,75 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
.build();
return sendPBMessage(MessageType.TYPE_SEND_RECORD_DATA_CONFIG_REQ.typeCode, req.toByteArray());
}
/**************************************注册接口相关*******************************************/
@Override
public boolean onSendSubscribe(byte[] bytes) {
return sendPBMessage(MessageType.TYPE_SEND_SUBSCRIBE_DATA_REQ.typeCode, bytes);
}
/**
* 获取已注册接口
*/
@Override
public Set<MessageType> getSubscribedInterface() {
return subscribeInterface == null ? null : subscribeInterface.getSubscribedInterface();
}
/**
* 获取未注册接口
*/
@Override
public Set<MessageType> getUnsubscribedInterface() {
return subscribeInterface == null ? null : subscribeInterface.getUnsubscribedInterface();
}
/**
* 根据参数查询是否已订阅
*
* @param messageType messageType
* @return 是否已订阅
*/
@Override
public boolean isSubscribedInterface(@NonNull MessageType messageType) {
return subscribeInterface != null && subscribeInterface.isSubscribed(messageType);
}
/**
* 根据参数查询是否未订阅
*
* @param messageType messageType
* @return 是否未订阅
*/
@Override
public boolean iUnsubscribedInterface(@NonNull MessageType messageType) {
return subscribeInterface != null && subscribeInterface.isUnsubscribed(messageType);
}
/**
* 注册或取消注册
*
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param type 注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
* @param messageTypes 要操作的接口
* @return boolean
*/
@Override
public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull Set<MessageType> messageTypes) {
return subscribeInterface != null && subscribeInterface.subscribeInterface(role, type, messageTypes);
}
/**
* 注册或取消注册
*
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param type 注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
* @param messageType 要操作的接口
* @return boolean
*/
@Override
public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType) {
return subscribeInterface != null && subscribeInterface.subscribeInterface(role, type, messageType);
}
}

67
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -7,9 +7,12 @@ import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.AppPreferenceHelper;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.Define;
import com.zhidao.support.adas.high.common.MessageType;
import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
import java.util.HashSet;
import java.util.Set;
import mogo.telematics.pad.MessagePad;
@@ -479,6 +482,70 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.sendRecordDataConfigReq();
}
/**
* 获取已注册接口
*/
@Override
public Set<MessageType> getSubscribedInterface() {
return mChannel == null ? null : mChannel.getSubscribedInterface();
}
/**
* 获取未注册接口
*/
@Override
public Set<MessageType> getUnsubscribedInterface() {
return mChannel == null ? null : mChannel.getUnsubscribedInterface();
}
/**
* 根据参数查询是否已订阅
*
* @param messageType messageType
* @return 是否已订阅
*/
@Override
public boolean isSubscribedInterface(@NonNull MessageType messageType) {
return mChannel != null && mChannel.isSubscribedInterface(messageType);
}
/**
* 根据参数查询是否未订阅
*
* @param messageType messageType
* @return 是否未订阅
*/
@Override
public boolean iUnsubscribedInterface(@NonNull MessageType messageType) {
return mChannel != null && mChannel.iUnsubscribedInterface(messageType);
}
/**
* 注册或取消注册
*
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param type 注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
* @param messageTypes 要操作的接口
* @return boolean
*/
@Override
public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull Set<MessageType> messageTypes) {
return mChannel != null && mChannel.subscribeInterface(role, type, messageTypes);
}
/**
* 注册或取消注册
*
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param type 注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
* @param messageType 要操作的接口
* @return boolean
*/
@Override
public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType) {
return mChannel != null && mChannel.subscribeInterface(role, type, messageType);
}
/**
* 获取工控机固定IP列表
*

86
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -4,6 +4,10 @@ import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.Define;
import com.zhidao.support.adas.high.common.MessageType;
import java.util.Set;
import mogo.telematics.pad.MessagePad;
@@ -69,7 +73,7 @@ public interface IAdasNetCommApi {
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
* @param routeInfo 自动驾驶路径信息
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo);
@@ -77,14 +81,14 @@ public interface IAdasNetCommApi {
* 设置演示模式
*
* @param enable 1: enable, 0: disable
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendDemoModeReq(int enable);
/**
* 车机基础信息请求
*
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendCarConfigReq();
@@ -95,7 +99,7 @@ public interface IAdasNetCommApi {
* @param filename 文件路径
* @param reasonID 接管原因id
* @param reason 接管原因
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason);
@@ -104,7 +108,7 @@ public interface IAdasNetCommApi {
*
* @param id
* @param type
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean startRecordPackage(int id, int type);
@@ -113,7 +117,7 @@ public interface IAdasNetCommApi {
*
* @param id
* @param type
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean startRecordPackage(int id, int duration, int type);
@@ -124,7 +128,7 @@ public interface IAdasNetCommApi {
* @param duration
* @param type
* @param bduration
* @return
* @return 加入WS发送消息队列是否成功
*/
boolean startRecordPackage(int id, int duration, int type, int bduration);
@@ -133,7 +137,7 @@ public interface IAdasNetCommApi {
*
* @param id
* @param type
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean stopRecordPackage(int id, int type);
@@ -145,7 +149,7 @@ public interface IAdasNetCommApi {
* @param type 采集类型, 1:badcase, 2: map; 3: rests
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param bduration 前溯时长
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration);
@@ -153,7 +157,7 @@ public interface IAdasNetCommApi {
* 设置自动驾驶最大速度
*
* @param speedLimit 最大车辆速度 m/s
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendAutopilotSpeedReq(double speedLimit);
@@ -171,7 +175,7 @@ public interface IAdasNetCommApi {
* @param flashYellow 黄灯总时间
* @param laneDetail 灯态具体信息
* @param timestamp 当前卫星时间, 单位: ms
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude,
@NonNull String heading, @NonNull String direction, int lightId, int laneNo,
@@ -180,7 +184,7 @@ public interface IAdasNetCommApi {
/**
* 自动驾驶路径请求
*
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendGlobalPathReq();
@@ -190,7 +194,7 @@ public interface IAdasNetCommApi {
* @param type SystemCmdType。SYSTEMCMD_REBOOT 重启所有节点
* SystemCmdType。SYSTEMCMD_EMPLOY_NEW_IMAGE 使用新镜像（推镜像）
* SystemCmdType。SYSTEMCMD_SHUT_DOWN 关机
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendSystemCmdReq(@NonNull MessagePad.SystemCmdType type);
@@ -198,14 +202,14 @@ public interface IAdasNetCommApi {
* 发送 轨迹下载请求
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendTrajectoryDownloadReq(MessagePad.Line line);
/**
* 发送 状态查询请求
*
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendStatusQueryReq();
@@ -213,7 +217,7 @@ public interface IAdasNetCommApi {
* 设置雨天模式
*
* @param enable 1: enable, 0: disable
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendRainModeReq(int enable);
@@ -221,10 +225,56 @@ public interface IAdasNetCommApi {
* 数据采集配置查询
* 0: all, 其他保留
*
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendRecordDataConfigReq();
/**
* 获取已注册接口
*/
Set<MessageType> getSubscribedInterface();
/**
* 获取未注册接口
*/
Set<MessageType> getUnsubscribedInterface();
/**
* 根据参数查询是否已订阅
*
* @param messageType messageType
* @return 是否已订阅
*/
boolean isSubscribedInterface(@NonNull MessageType messageType);
/**
* 根据参数查询是否未订阅
*
* @param messageType messageType
* @return 是否未订阅
*/
boolean iUnsubscribedInterface(@NonNull MessageType messageType);
/**
* 注册或取消注册
*
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param type 注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
* @param messageTypes 要操作的接口
* @return 加入WS发送消息队列是否成功
*/
boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull Set<MessageType> messageTypes);
/**
* 注册或取消注册
*
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param type 注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
* @param messageType 要操作的接口
* @return 加入WS发送消息队列是否成功
*/
boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType);
// TODO 需求暂停 待讨论
// boolean getRoutes();
@@ -232,7 +282,7 @@ public interface IAdasNetCommApi {
* 向工控机发送数据
*
* @param bytes 数据
* @return boolean
* @return 加入WS发送消息队列是否成功
*/
boolean sendWsMessage(byte[] bytes);

56
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
View File

@@ -54,4 +54,60 @@ public class Constants {
*/
int NOT_FOUND_ADDRESS = 0x04;
}
/**
* 终端角色类型
*/
public interface TERMINAL_ROLE {
/**
* 司机端
*/
int DRIVER = 0;
/**
* 乘客端
*/
int PASSENGER = 1;
/**
* 调试端
*/
int DEBUG = 2;
}
/**
* 环境
*/
public interface ENVIRONMENT {
/**
* 研发
*/
int DEVELOP = 1;
/**
* 测试
*/
int TEST = 2;
/**
* 生产
*/
int PRODUCTION = 3;
/**
* 演示
*/
int DEMO = 4;
}
/**
* 接口订阅类型
*/
public interface SUBSCRIBE_TYPE {
/**
* 订阅
*/
int SUBSCRIBE = 1;
/**
* 取消订阅
*/
int UNSUBSCRIBE = 2;
}
}

21
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java
View File

@@ -25,4 +25,25 @@ public final class Define {
@Retention(RetentionPolicy.SOURCE)
public @interface VersionCompatibilityDegree {
}
@IntDef(flag = true, value = {Constants.TERMINAL_ROLE.DRIVER,
Constants.TERMINAL_ROLE.PASSENGER,
Constants.TERMINAL_ROLE.DEBUG})
@Retention(RetentionPolicy.SOURCE)
public @interface TerminalRole {
}
@IntDef(flag = true, value = {Constants.ENVIRONMENT.DEVELOP,
Constants.ENVIRONMENT.TEST,
Constants.ENVIRONMENT.PRODUCTION,
Constants.ENVIRONMENT.DEMO})
@Retention(RetentionPolicy.SOURCE)
public @interface Environment {
}
@IntDef(flag = true, value = {Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE})
@Retention(RetentionPolicy.SOURCE)
public @interface SubscribeType {
}
}

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -4,6 +4,7 @@ import mogo.telematics.pad.MessagePad;
/**
* 工控机发送或接收的类型
* 工控机接收接口必须包含TYPE_RECEIVE
*
* @author nie yunlong
* @description 请求值
@@ -45,7 +46,8 @@ public enum MessageType {
TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答"),
TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式"),
TYPE_SEND_RECORD_DATA_CONFIG_REQ(MessagePad.MessageType.MsgTypeRecordDataConfigReq, "数据采集配置查询"),
TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP(MessagePad.MessageType.MsgTypeRecordDataConfigResp, "数据采集配置");
TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP(MessagePad.MessageType.MsgTypeRecordDataConfigResp, "数据采集配置"),
TYPE_SEND_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, "数据订阅、取消订阅请求");
/**
* 消息action code

166
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java Normal file
View File

@@ -0,0 +1,166 @@
package com.zhidao.support.adas.high.subscribe;
import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.Define;
import com.zhidao.support.adas.high.common.MessageType;
import java.util.HashMap;
import java.util.Map;
import java.util.Set;
import mogo.telematics.pad.MessagePad;
/**
* 工控机注册接口
* Taxi（红旗、东风） MAP260上线
* Bus 预计MAP260上线
*/
public class SubscribeInterface {
/**
* 已注册接口
*/
private final Map<MessageType, Integer> subscribedInterface = new HashMap<>();
/**
* 未注册接口
*/
private final Map<MessageType, Integer> unsubscribedInterface = new HashMap<>();
private final OnSubscribeInterfaceListener listener;
public interface OnSubscribeInterfaceListener {
boolean onSendSubscribe(byte[] bytes);
}
public SubscribeInterface(@NonNull OnSubscribeInterfaceListener listener) {
this.listener = listener;
if (listener == null) throw new RuntimeException();
init();
}
/**
* 获取已注册接口
*/
public Set<MessageType> getSubscribedInterface() {
return subscribedInterface.keySet();
}
/**
* 获取未注册接口
*/
public Set<MessageType> getUnsubscribedInterface() {
return unsubscribedInterface.keySet();
}
/**
* 注册或取消注册
*
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param type 注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
* @param messageTypes 要操作的接口
* @return
*/
public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull Set<MessageType> messageTypes) {
if (messageTypes == null) return false;
MessagePad.SubscribeDataReq.Builder builder = MessagePad.SubscribeDataReq.newBuilder();
builder.setRole(role).setReqType(type);
Map<MessageType, Integer> temp = new HashMap<>();
for (MessageType messageType : messageTypes) {
temp.put(messageType, messageType.typeCode.getNumber());
}
builder.addAllDataTypes(temp.values());
boolean isSendSucceed = listener.onSendSubscribe(builder.build().toByteArray());
if (isSendSucceed) {
for (MessageType messageType : messageTypes) {
if (type == Constants.SUBSCRIBE_TYPE.SUBSCRIBE) {
if (!subscribedInterface.containsKey(messageType)) {
subscribedInterface.put(messageType, messageType.typeCode.getNumber());
}
unsubscribedInterface.remove(messageType);
} else if (type == Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE) {
if (!unsubscribedInterface.containsKey(messageType)) {
unsubscribedInterface.put(messageType, messageType.typeCode.getNumber());
}
subscribedInterface.remove(messageType);
}
}
}
return false;
}
/**
* 注册或取消注册
*
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param type 注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
* @param messageType 要操作的接口
* @return 是否加入ws发送队列
*/
public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType) {
if (messageType == null) return false;
MessagePad.SubscribeDataReq.Builder builder = MessagePad.SubscribeDataReq.newBuilder();
builder.setRole(role).setReqType(type).addDataTypes(messageType.typeCode.getNumber());
boolean isSendSucceed = listener.onSendSubscribe(builder.build().toByteArray());
if (isSendSucceed) {
if (type == Constants.SUBSCRIBE_TYPE.SUBSCRIBE) {
if (!subscribedInterface.containsKey(messageType)) {
subscribedInterface.put(messageType, messageType.typeCode.getNumber());
}
unsubscribedInterface.remove(messageType);
} else if (type == Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE) {
if (!unsubscribedInterface.containsKey(messageType)) {
unsubscribedInterface.put(messageType, messageType.typeCode.getNumber());
}
subscribedInterface.remove(messageType);
}
}
return false;
}
//根据参数查询是否已订阅
public boolean isSubscribed(@NonNull MessageType messageType) {
return subscribedInterface.containsKey(messageType);
}
//根据参数查询是否未订阅
public boolean isUnsubscribed(@NonNull MessageType messageType) {
return unsubscribedInterface.containsKey(messageType);
}
private void init() {
//默认RECEIVE的全部注册
MessageType[] types = MessageType.values();
if (types.length > 0) {
for (MessageType messageType : types) {
if (messageType.name().toLowerCase().contains("type_receive")) {
subscribedInterface.put(messageType, messageType.typeCode.getNumber());
}
}
}
// subscribedInterface.put(MessageType.TYPE_RECEIVE_TRAJECTORY, MessageType.TYPE_RECEIVE_TRAJECTORY.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_TRACKED_OBJECTS, MessageType.TYPE_RECEIVE_TRACKED_OBJECTS.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_GNSS_INFO, MessageType.TYPE_RECEIVE_GNSS_INFO.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_VEHICLE_STATE, MessageType.TYPE_RECEIVE_VEHICLE_STATE.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_AUTOPILOT_STATE, MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_REPORT_MESSAGE, MessageType.TYPE_RECEIVE_REPORT_MESSAGE.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT, MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY, MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_POINT_CLOUD, MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_PLANNING_OBJECTS, MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_BASIC_INFO_REQ, MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_CAR_CONFIG_RESP, MessageType.TYPE_RECEIVE_CAR_CONFIG_RESP.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_RECORD_RESULT, MessageType.TYPE_RECEIVE_RECORD_RESULT.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_GLOBAL_PATH_RESP, MessageType.TYPE_RECEIVE_GLOBAL_PATH_RESP.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_WARN, MessageType.TYPE_RECEIVE_WARN.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_ARRIVAL_NOTIFICATION, MessageType.TYPE_RECEIVE_ARRIVAL_NOTIFICATION.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP, MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP.typeCode.getNumber());
// subscribedInterface.put(MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP, MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP.typeCode.getNumber());
}
}