From e20f9f21d34bf63ff7ed3f44a2f347cc6118b93e Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Mon, 13 Jun 2022 17:25:00 +0800 Subject: [PATCH] =?UTF-8?q?[change]=E7=9B=B8=E5=B7=A5=E6=8E=A7=E6=9C=BA?= =?UTF-8?q?=E5=8F=91=E9=80=81=E7=BA=A2=E7=BB=BF=E7=81=AF=E6=8E=A5=E5=8F=A3?= =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E6=97=B6=E9=97=B4=E5=AD=97=E6=AE=B5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../main/java/com/zhidao/adas/client/ui/MainActivity.java | 2 +- .../eagle/core/function/autopilot/MoGoAutopilotProvider.kt | 3 ++- libraries/mogo-adas-data/src/main/proto/message_pad.proto | 1 + .../main/java/com/zhidao/support/adas/high/AdasChannel.java | 4 +++- .../main/java/com/zhidao/support/adas/high/AdasManager.java | 5 +++-- .../java/com/zhidao/support/adas/high/IAdasNetCommApi.java | 3 ++- 6 files changed, 12 insertions(+), 6 deletions(-) diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java index 4624f1769b..d58e1a2299 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java @@ -1115,7 +1115,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas .setMid(mid) .setRight(right) .build(); - AdasManager.getInstance().sendTrafficLightData("10038", 26.848153, 112.574883, "180.0", "SN", 100413, -4, 201, 0, detail); + AdasManager.getInstance().sendTrafficLightData("10038", 26.848153, 112.574883, "180.0", "SN", 100413, -4, 201, 0, detail, System.currentTimeMillis()); break; case 7: //速度设置 diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 43db57e5bd..c2403e05f4 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -259,7 +259,8 @@ class MoGoAutopilotProvider : trafficLightResult.laneNo, trafficLightResult.arrowNo, trafficLightResult.flashYellow, - trafficLightResult.toTrafficLightDetail() + trafficLightResult.toTrafficLightDetail(), + 0 ) } diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 443c7589ea..da38c118c2 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -298,6 +298,7 @@ message TrafficLightData int32 arrowNo = 8; //当前车道对应地面要素转向 int32 flashYellow = 9; //黄灯总时间 TrafficLightDetail laneDetail = 10; //灯态具体信息 + uint64 timestamp =11;//当前卫星时间, 单位: ms } // message definition for MsgTypeWarn diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 9183294300..2ad94c63fc 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -794,12 +794,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec * @param arrowNo 当前车道对应地面要素转向 * @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 */ @Override public boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude, @NonNull String heading, @NonNull String direction, int lightId, int laneNo, - int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail) { + int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail, long timestamp) { if (crossID == null) { crossID = ""; } @@ -821,6 +822,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec builder.setFlashYellow(flashYellow); if (laneDetail != null) builder.setLaneDetail(laneDetail); + builder.setTimestamp(timestamp); MessagePad.TrafficLightData req = builder.build(); return sendWsMessage(MessageType.TYPE_SEND_TRAFFIC_LIGHT_DATA.typeCode, req.toByteArray()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index 2a62193118..506ceb1581 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -365,11 +365,12 @@ public class AdasManager implements IAdasNetCommApi { * @param arrowNo 当前车道对应地面要素转向 * @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 */ @Override - public boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude, @NonNull String heading, @NonNull String direction, int lightId, int laneNo, int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail) { - return mChannel != null && mChannel.sendTrafficLightData(crossID, latitude, longitude, heading, direction, lightId, laneNo, arrowNo, flashYellow, laneDetail); + public boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude, @NonNull String heading, @NonNull String direction, int lightId, int laneNo, int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail, long timestamp) { + return mChannel != null && mChannel.sendTrafficLightData(crossID, latitude, longitude, heading, direction, lightId, laneNo, arrowNo, flashYellow, laneDetail, timestamp); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 1ddceda5c3..33377ef0fc 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -157,11 +157,12 @@ public interface IAdasNetCommApi { * @param arrowNo 当前车道对应地面要素转向 * @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 */ boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude, @NonNull String heading, @NonNull String direction, int lightId, int laneNo, - int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail); + int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail, long timestamp); /** * 自动驾驶路径请求