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[opt3.0_back_camera] 福田清扫车后摄像头数据接收

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This commit is contained in:
xinfengkun
2023-03-06 16:05:31 +08:00
parent c95013f792
commit e7ea7ae9f4
28 changed files with 1117 additions and 109 deletions
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1
app_ipc_monitoring/build.gradle
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@@ -130,6 +130,7 @@ dependencies {
androidTestImplementation 'androidx.test.ext:junit:1.1.3'
androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
implementation rootProject.ext.dependencies.gson
implementation 'com.github.bumptech.glide:glide:4.11.0'
implementation project(':libraries:mogo-adas')
implementation project(':libraries:mogo-adas-data')
implementation project(':libraries:mogo-obu')

28
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -9,7 +9,6 @@ import com.zhidao.adas.client.bean.ObuMap;
import com.zhidao.adas.client.bean.ObuRsi;
import com.zhidao.adas.client.bean.ObuRsm;
import com.zhidao.adas.client.bean.ObuSpat;
import com.zhidao.adas.client.bean.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.log.LogSave;
import com.zhidao.adas.client.utils.Constants;
@@ -109,6 +108,7 @@ public class DataDistribution {
public final List<DataShow> listPlanningDecisionState = new ArrayList<>();
public final List<DataShow> listChassisStates = new ArrayList<>();
public final List<DataShow> listFSMFunctionStates = new ArrayList<>();
public final List<DataShow> listBackCameraVideo = new ArrayList<>();
public final List<DataShow> listRoboSweeperTaskIndex = new ArrayList<>();
public final List<DataShow> listBagManagerCmd = new ArrayList<>();
public final List<DataShow> listObuSpat = new ArrayList<>();
@@ -136,6 +136,7 @@ public class DataDistribution {
private long listPlanningDecisionStateSize = 0;
private long listChassisStatesSize = 0;
private long listFSMFunctionStatesSize = 0;
private long listBackCameraVideoSize = 0;
private long listRoboSweeperTaskIndexSize = 0;
private long listBagManagerCmdSize = 0;
private long listObuSpatSize = 0;
@@ -165,6 +166,7 @@ public class DataDistribution {
listPlanningDecisionStateSize = 1;
listChassisStatesSize = 1;
listFSMFunctionStatesSize = 1;
listBackCameraVideoSize = 1;
listRoboSweeperTaskIndexSize = 1;
listBagManagerCmdSize = 1;
listObuSpatSize = 1;
@@ -192,14 +194,6 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_ERROR.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof OriginalPointCloudData) {
listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str));
if (listOriginalPointCloud.size() > LIST_SIZE) {
listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) {
listener.second.onRefresh();
}
}
} else {
MessagePad.MessageType messageType = data.header.getMsgType();
@@ -359,6 +353,22 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypePointCloud) {
listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str));
if (listOriginalPointCloud.size() > LIST_SIZE) {
listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeBackCameraVideo) {
listBackCameraVideo.add(0, new DataShow(listBackCameraVideoSize++, time + str));
if (listBackCameraVideo.size() > LIST_SIZE) {
listBackCameraVideo.remove(listBackCameraVideo.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof PerceptionTrafficLight) {
listPerceptionTrafficLight.add(0, new DataShow(listPerceptionTrafficLightSize++, time + str));
if (listPerceptionTrafficLight.size() > LIST_SIZE) {

16
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
View File

@@ -18,7 +18,11 @@ public abstract class BaseInfo {
this.action = action;
this.payloadLen = len;
nowTime = System.currentTimeMillis();
this.len = 8 + header.getSerializedSize() + len;
int headerSize = 0;
if (header != null) {
headerSize = header.getSerializedSize();
}
this.len = 8 + headerSize + len;
this.header = header;
this.sdf = sdf;
}
@@ -33,8 +37,12 @@ public abstract class BaseInfo {
@Override
public String toString() {
return "原始数据长度：" + len + "\tPayload数据长度：" + payloadLen + "\nHeader:[" + "MessageID:" + header.getMsgID() +
" MessageType:" + header.getMsgType() + " 发送时间:" + sdf.format(new Date((long) (header.getTimestamp() * 1000)))
+ " 数据源时间:" + sdf.format(new Date((long) (header.getSourceTimestamp() * 1000))) + "]\n";
String str = "原始数据长度：" + len + "\tPayload数据长度：" + payloadLen + '\n';
if (header != null) {
str += "Header:[" + "MessageID:" + header.getMsgID() +
" MessageType:" + header.getMsgType() + " 发送时间:" + sdf.format(new Date((long) (header.getTimestamp() * 1000)))
+ " 数据源时间:" + sdf.format(new Date((long) (header.getSourceTimestamp() * 1000))) + "]\n";
}
return str;
}
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java
View File

@@ -15,6 +15,6 @@ public class ErrorData extends BaseInfo {
@Override
public String toString() {
return status + "\n原始数据：" + ByteUtil.byteArrToHex(bytes);
return super.toString() + status + "\n原始数据：" + ByteUtil.byteArrToHex(bytes);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
import rule_segement.MogoPointCloudOuterClass;
public class MyPointCloud extends BaseInfo {
public final MogoPointCloudOuterClass.MogoPointCloud bean;
public MyPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

17
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java
View File

@@ -1,17 +0,0 @@
package com.zhidao.adas.client.bean;
import com.zhidao.support.adas.high.common.ByteUtil;
public class OriginalPointCloudData extends BaseInfo {
private final byte[] pointCloud;
public OriginalPointCloudData(byte[] pointCloud) {
super("接收", pointCloud.length);
this.pointCloud = pointCloud;
}
@Override
public String toString() {
return "\n" + ByteUtil.byteArrToHex(pointCloud);
}
}

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveBytesData.java Normal file
View File

@@ -0,0 +1,23 @@
package com.zhidao.adas.client.bean;
import com.zhidao.support.adas.high.common.ByteUtil;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class ReceiveBytesData extends BaseInfo {
public final byte[] data;
public ReceiveBytesData(MessagePad.Header header, byte[] data, SimpleDateFormat sdf) {
super("接收", data.length, header, sdf);
this.data = data;
}
@Override
public String toString() {
return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(data);
}
}

201
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/BackCameraFloatWindow.java Normal file
View File

@@ -0,0 +1,201 @@
package com.zhidao.adas.client.ui;
import android.app.Activity;
import android.graphics.PixelFormat;
import android.os.Handler;
import android.os.Message;
import android.util.DisplayMetrics;
import android.view.Gravity;
import android.view.LayoutInflater;
import android.view.MotionEvent;
import android.view.View;
import android.view.WindowManager;
import android.widget.ImageView;
import com.zhidao.adas.client.R;
import com.zhidao.adas.client.utils.SysBarUtil;
import com.zhidao.adas.client.utils.image.ImageLoaderManager;
import java.lang.ref.WeakReference;
/**
* 摄像头数据展示
*
* @author xuxinchao
* @description
* @since: 2022/4/20
*/
public class BackCameraFloatWindow implements View.OnTouchListener {
private final Activity mContext;
private WindowManager.LayoutParams mWindowParams;
private WindowManager mWindowManager;
private View mFloatLayout;
private float mInViewX;
private float mInViewY;
private float mDownInScreenX;
private float mDownInScreenY;
private float mInScreenX;
private float mInScreenY;
private ImageView image_view;
public BackCameraFloatWindow(Activity context) {
this.mContext = context;
initHandler();
initFloatWindow();
}
private void initFloatWindow() {
LayoutInflater inflater = LayoutInflater.from(mContext);
if (inflater == null)
return;
mFloatLayout = (View) inflater.inflate(R.layout.layout_back_camera, null);
image_view = mFloatLayout.findViewById(R.id.image_view);
mFloatLayout.setOnTouchListener(this);
mWindowParams = new WindowManager.LayoutParams();
// mWindowManager = (WindowManager) mContext.getSystemService(Context.WINDOW_SERVICE);
// if (Build.VERSION.SDK_INT >= 26) {//8.0新特性
// mWindowParams.type = WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY;
// }else{
// mWindowParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
// }
mWindowManager = mContext.getWindowManager();
mWindowParams.format = PixelFormat.RGBA_8888;
mWindowParams.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE;
mWindowParams.gravity = Gravity.START | Gravity.TOP;
// mWindowParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
// mWindowParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
mWindowParams.width = 1280;
mWindowParams.height = 720;
// mWindowParams.alpha = 0.9F;
}
@Override
public boolean onTouch(View view, MotionEvent motionEvent) {
return floatLayoutTouch(motionEvent);
}
private boolean floatLayoutTouch(MotionEvent motionEvent) {
switch (motionEvent.getAction()) {
case MotionEvent.ACTION_DOWN:
// 获取相对View的坐标，即以此View左上角为原点
mInViewX = motionEvent.getX();
mInViewY = motionEvent.getY();
// 获取相对屏幕的坐标，即以屏幕左上角为原点
mDownInScreenX = motionEvent.getRawX();
mDownInScreenY = motionEvent.getRawY() - SysBarUtil.getSysBarHeight(mContext);
mInScreenX = motionEvent.getRawX();
mInScreenY = motionEvent.getRawY() - SysBarUtil.getSysBarHeight(mContext);
break;
case MotionEvent.ACTION_MOVE:
// 更新浮动窗口位置参数
mInScreenX = motionEvent.getRawX();
mInScreenY = motionEvent.getRawY() - SysBarUtil.getSysBarHeight(mContext);
mWindowParams.x = (int) (mInScreenX - mInViewX);
mWindowParams.y = (int) (mInScreenY - mInViewY);
// 手指移动的时候更新小悬浮窗的位置
mWindowManager.updateViewLayout(mFloatLayout, mWindowParams);
break;
case MotionEvent.ACTION_UP:
// 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
if (mDownInScreenX == mInScreenX && mDownInScreenY == mInScreenY) {
}
break;
}
return true;
}
public void showFloatWindow(float y) {
if (mFloatLayout.getParent() == null) {
DisplayMetrics metrics = new DisplayMetrics();
// 默认固定位置，靠屏幕右边缘的中间
mWindowManager.getDefaultDisplay().getMetrics(metrics);
mWindowParams.x = metrics.widthPixels;
mWindowParams.y = (int) (y);
mWindowManager.addView(mFloatLayout, mWindowParams);
}
}
public void hideFloatWindow() {
if (mFloatLayout.getParent() != null)
mWindowManager.removeView(mFloatLayout);
}
public void setFloatLayoutAlpha(boolean alpha) {
if (alpha)
mFloatLayout.setAlpha((float) 0.5);
else
mFloatLayout.setAlpha(1);
}
public void onBackCameraVideo(byte[] data) {
Message msg = Message.obtain();
msg.obj = data;
msg.what = 1;
getHandler().sendMessage(msg);
}
private BaseHandler mBaseHandler;
/**
* 初始化一个Handler，如果需要使用Handler，先调用此方法，
* 然后可以使用postRunnable(Runnable runnable)，
* sendMessage在handleMessage（Message msg）中接收msg
*/
public void initHandler() {
mBaseHandler = new BaseHandler(this);
}
/**
* 返回Handler，在此之前确定已经调用initHandler（）
*
* @return Handler
*/
public Handler getHandler() {
return mBaseHandler;
}
/**
* 同Handler 的 handleMessage，
* getHandler.sendMessage,发送的Message在此接收
* 在此之前确定已经调用initHandler（）
*
* @param msg
*/
protected void handleMessage(Message msg) {
switch (msg.what) {
case 1:
ImageLoaderManager.loadByteImage(mContext, (byte[]) msg.obj, image_view);
break;
}
}
protected static class BaseHandler extends Handler {
private final WeakReference<BackCameraFloatWindow> mObjects;
public BaseHandler(BackCameraFloatWindow mPresenter) {
mObjects = new WeakReference<BackCameraFloatWindow>(mPresenter);
}
@Override
public void handleMessage(Message msg) {
BackCameraFloatWindow mPresenter = mObjects.get();
if (mPresenter != null)
mPresenter.handleMessage(msg);
}
}
}

47
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -32,6 +32,7 @@ public class InfoFragment extends BaseFragment {
private DataShowAdapter adapter;
private TextView tvTitle;
private String subTitle;
private BackCameraFloatWindow backCameraFloatWindow;
public InfoFragment() {
}
@@ -65,6 +66,27 @@ public class InfoFragment extends BaseFragment {
}
}
@Override
public void onPause() {
super.onPause();
hideFloatWindow();
}
@Override
public void onHiddenChanged(boolean hidden) {
super.onHiddenChanged(hidden);
if (hidden) {
hideFloatWindow();
}
}
private void hideFloatWindow() {
if (backCameraFloatWindow != null) {
backCameraFloatWindow.hideFloatWindow();
backCameraFloatWindow = null;
}
}
private void initView(View view) {
tvTitle = view.findViewById(R.id.tv_title);
RecyclerView rvInfo = view.findViewById(R.id.rv_info);
@@ -76,6 +98,23 @@ public class InfoFragment extends BaseFragment {
subTitle = null;
}
tvTitle.setGravity(Gravity.CENTER);
if (Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(title)) {
Button button = view.findViewById(R.id.btn_render);
button.setVisibility(View.VISIBLE);
button.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
if (backCameraFloatWindow == null) {
backCameraFloatWindow = new BackCameraFloatWindow(getActivity());
final int[] location = new int[2];
button.getLocationOnScreen(location);
backCameraFloatWindow.showFloatWindow(location[1]);
} else {
hideFloatWindow();
}
}
});
}
//创建默认的线性LayoutManager 横向的GridLayoutManager
MyLinearLayoutManager linearLayoutManager = new MyLinearLayoutManager(this.getContext());
// linearLayoutManager.setStackFromEnd(true);//列表再底部开始展示，反转后由上面开始展示
@@ -164,6 +203,8 @@ public class InfoFragment extends BaseFragment {
adapter.setData(DataDistribution.getInstance().listPlanningDecisionState);
} else if (Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(title)) {
adapter.setData(DataDistribution.getInstance().listFSMFunctionStates);
} else if (Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(title)) {
adapter.setData(DataDistribution.getInstance().listBackCameraVideo);
} else if (Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(title)) {
adapter.setData(DataDistribution.getInstance().listRoboSweeperTaskIndex);
} else {
@@ -199,4 +240,10 @@ public class InfoFragment extends BaseFragment {
adapter.refreshView();
}
}
public void onBackCameraVideo(byte[] data) {
if (backCameraFloatWindow != null) {
backCameraFloatWindow.onBackCameraVideo(data);
}
}
}

57
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -57,8 +57,8 @@ import com.zhidao.adas.client.bean.ObuMap;
import com.zhidao.adas.client.bean.ObuRsi;
import com.zhidao.adas.client.bean.ObuRsm;
import com.zhidao.adas.client.bean.ObuSpat;
import com.zhidao.adas.client.bean.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.ReceiveBytesData;
import com.zhidao.adas.client.bean.ReceiveData;
import com.zhidao.adas.client.bean.SpecialVehicleBean;
import com.zhidao.adas.client.log.ConnectStatusSave;
@@ -80,6 +80,8 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import org.jetbrains.annotations.NotNull;
import java.net.Inet4Address;
import java.net.InetAddress;
import java.net.NetworkInterface;
@@ -642,6 +644,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_RSM);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_MAP);
titleFragmentData.add(Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA);
titleFragmentData.add(Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO);
titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
@@ -917,25 +920,31 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
//// LogSave.getInstance().saveLog("转换数据=" + data);
// }
// @Override
// public void onPointCloud(byte[] pointCloud) {
//// try {
//// MogoPointCloudOuterClass.MogoPointCloud pointCloud1 = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
//// HeaderOuterClass.Time time = pointCloud1.getHeader().getStamp();
//// int s = time.getSec();
//// int ns = time.getNsec();
//// long t = (long) (s * 1000L) + (long) (ns / 1000000.d);
//// Log.i(TAG, "PointCloud=" + sdf.format(new Date(t)));
//// } catch (InvalidProtocolBufferException e) {
//// e.printStackTrace();
//// }
//// try {
//// MogoPointCloudOuterClass.MogoPointCloud bean = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
//// Log.i("ddd","MogoPointCloud="+ TextFormat.printer().escapingNonAscii(false).printToString(bean));
//// } catch (InvalidProtocolBufferException e) {
//// e.printStackTrace();
//// }
// ReceiveBytesData base = new ReceiveBytesData(null, pointCloud, sdf);
// DataDistribution.getInstance().addData(base);
// }
//
@Override
public void onPointCloud(byte[] pointCloud) {
// try {
// MogoPointCloudOuterClass.MogoPointCloud pointCloud1 = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
// HeaderOuterClass.Time time = pointCloud1.getHeader().getStamp();
// int s = time.getSec();
// int ns = time.getNsec();
// long t = (long) (s * 1000L) + (long) (ns / 1000000.d);
// Log.i(TAG, "PointCloud=" + sdf.format(new Date(t)));
// } catch (InvalidProtocolBufferException e) {
// e.printStackTrace();
// }
// try {
// MogoPointCloudOuterClass.MogoPointCloud bean = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
// Log.i("ddd","MogoPointCloud="+ TextFormat.printer().escapingNonAscii(false).printToString(bean));
// } catch (InvalidProtocolBufferException e) {
// e.printStackTrace();
// }
OriginalPointCloudData base = new OriginalPointCloudData(pointCloud);
public void onPointCloud(MessagePad.Header header, byte[] pointCloud) {
ReceiveBytesData base = new ReceiveBytesData(header, pointCloud, sdf);
DataDistribution.getInstance().addData(base);
}
@@ -1039,6 +1048,16 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onBackCameraVideo(@NotNull MessagePad.Header header, @NotNull byte[] data) {
if (fromFragment instanceof InfoFragment) {
InfoFragment fragment = (InfoFragment) fromFragment;
fragment.onBackCameraVideo(data);
}
ReceiveBytesData base = new ReceiveBytesData(header, data, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onSweeperTaskIndexData(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
ReceiveData base = new ReceiveData(header, roboSweeperTaskIndex, sdf);

1
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -154,6 +154,7 @@ public class Constants {
String RECEIVE_CHASSIS_STATES = MessageType.TYPE_RECEIVE_CHASSIS_STATES.desc;
String RECEIVE_AUTOPILOT_STATE = MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.desc;
String RECEIVE_FUNCTION_STATES = MessageType.TYPE_RECEIVE_FUNCTION_STATES.desc;
String RECEIVE_BACK_CAMERA_VIDEO = MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO.desc;
String RECEIVE_REPORT_MESSAGE = MessageType.TYPE_RECEIVE_REPORT_MESSAGE.desc;
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.desc;
String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.desc;

99
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/BlurTransformation.java Normal file
View File

@@ -0,0 +1,99 @@
package com.zhidao.adas.client.utils.image;
/**
* Copyright (C) 2018 Wasabeef
* <p>
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
* <p>
* http://www.apache.org/licenses/LICENSE-2.0
* <p>
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
import android.graphics.Bitmap;
import android.graphics.Canvas;
import android.graphics.Paint;
import androidx.annotation.NonNull;
import com.bumptech.glide.load.engine.bitmap_recycle.BitmapPool;
import com.bumptech.glide.load.resource.bitmap.BitmapTransformation;
import java.security.MessageDigest;
/**
* 高斯模糊
*/
public class BlurTransformation extends BitmapTransformation {
private static final int VERSION = 1;
private static final String ID ="com.zhidao.adas.client.utils.image.BlurTransformation." + VERSION;
private static int MAX_RADIUS = 25;
private static int DEFAULT_DOWN_SAMPLING = 1;
private int radius;
private int sampling;
public BlurTransformation() {
this(MAX_RADIUS, DEFAULT_DOWN_SAMPLING);
}
public BlurTransformation(int radius) {
this(radius, DEFAULT_DOWN_SAMPLING);
}
public BlurTransformation(int radius, int sampling) {
this.radius = radius;
this.sampling = sampling;
}
@Override
public String toString() {
return "BlurTransformation(radius=" + radius + ", sampling=" + sampling + ")";
}
@Override
protected Bitmap transform(@NonNull BitmapPool pool, @NonNull Bitmap toTransform, int outWidth, int outHeight) {
int width = toTransform.getWidth();
int height = toTransform.getHeight();
int scaledWidth = width / sampling;
int scaledHeight = height / sampling;
Bitmap bitmap = pool.get(scaledWidth, scaledHeight, Bitmap.Config.ARGB_4444);
Canvas canvas = new Canvas(bitmap);
canvas.scale(1 / (float) sampling, 1 / (float) sampling);
Paint paint = new Paint();
paint.setFlags(Paint.FILTER_BITMAP_FLAG);
canvas.drawBitmap(toTransform, 0, 0, paint);
bitmap = FastBlur.blur(bitmap, radius, true);
return bitmap;
}
@Override
public boolean equals(Object o) {
return o instanceof BlurTransformation &&
((BlurTransformation) o).radius == radius &&
((BlurTransformation) o).sampling == sampling;
}
@Override
public int hashCode() {
return ID.hashCode() + radius * 1000 + sampling * 10;
}
@Override
public void updateDiskCacheKey(@NonNull MessageDigest messageDigest) {
messageDigest.update((ID + radius + sampling).getBytes(CHARSET));
}
}

257
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/FastBlur.java Normal file
View File

@@ -0,0 +1,257 @@
package com.zhidao.adas.client.utils.image;
import android.graphics.Bitmap;
/**
* Copyright (C) 2018 Wasabeef
* <p>
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
* <p>
* http://www.apache.org/licenses/LICENSE-2.0
* <p>
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
public class FastBlur {
public static Bitmap blur(Bitmap sentBitmap, int radius, boolean canReuseInBitmap) {
// Stack Blur v1.0 from
// http://www.quasimondo.com/StackBlurForCanvas/StackBlurDemo.html
//
// Java Author: Mario Klingemann <mario at quasimondo.com>
// http://incubator.quasimondo.com
// created Feburary 29, 2004
// Android port : Yahel Bouaziz <yahel at kayenko.com>
// http://www.kayenko.com
// ported april 5th, 2012
// This is a compromise between Gaussian Blur and Box blur
// It creates much better looking blurs than Box Blur, but is
// 7x faster than my Gaussian Blur implementation.
//
// I called it Stack Blur because this describes best how this
// filter works internally: it creates a kind of moving stack
// of colors whilst scanning through the image. Thereby it
// just has to add one new block of color to the right side
// of the stack and remove the leftmost color. The remaining
// colors on the topmost layer of the stack are either added on
// or reduced by one, depending on if they are on the right or
// on the left side of the stack.
//
// If you are using this algorithm in your code please add
// the following line:
//
// Stack Blur Algorithm by Mario Klingemann <mario@quasimondo.com>
Bitmap bitmap;
if (canReuseInBitmap) {
bitmap = sentBitmap;
} else {
bitmap = sentBitmap.copy(sentBitmap.getConfig(), true);
}
if (radius < 1) {
return (null);
}
int w = bitmap.getWidth();
int h = bitmap.getHeight();
int[] pix = new int[w * h];
bitmap.getPixels(pix, 0, w, 0, 0, w, h);
int wm = w - 1;
int hm = h - 1;
int wh = w * h;
int div = radius + radius + 1;
int r[] = new int[wh];
int g[] = new int[wh];
int b[] = new int[wh];
int rsum, gsum, bsum, x, y, i, p, yp, yi, yw;
int vmin[] = new int[Math.max(w, h)];
int divsum = (div + 1) >> 1;
divsum *= divsum;
int dv[] = new int[256 * divsum];
for (i = 0; i < 256 * divsum; i++) {
dv[i] = (i / divsum);
}
yw = yi = 0;
int[][] stack = new int[div][3];
int stackpointer;
int stackstart;
int[] sir;
int rbs;
int r1 = radius + 1;
int routsum, goutsum, boutsum;
int rinsum, ginsum, binsum;
for (y = 0; y < h; y++) {
rinsum = ginsum = binsum = routsum = goutsum = boutsum = rsum = gsum = bsum = 0;
for (i = -radius; i <= radius; i++) {
p = pix[yi + Math.min(wm, Math.max(i, 0))];
sir = stack[i + radius];
sir[0] = (p & 0xff0000) >> 16;
sir[1] = (p & 0x00ff00) >> 8;
sir[2] = (p & 0x0000ff);
rbs = r1 - Math.abs(i);
rsum += sir[0] * rbs;
gsum += sir[1] * rbs;
bsum += sir[2] * rbs;
if (i > 0) {
rinsum += sir[0];
ginsum += sir[1];
binsum += sir[2];
} else {
routsum += sir[0];
goutsum += sir[1];
boutsum += sir[2];
}
}
stackpointer = radius;
for (x = 0; x < w; x++) {
r[yi] = dv[rsum];
g[yi] = dv[gsum];
b[yi] = dv[bsum];
rsum -= routsum;
gsum -= goutsum;
bsum -= boutsum;
stackstart = stackpointer - radius + div;
sir = stack[stackstart % div];
routsum -= sir[0];
goutsum -= sir[1];
boutsum -= sir[2];
if (y == 0) {
vmin[x] = Math.min(x + radius + 1, wm);
}
p = pix[yw + vmin[x]];
sir[0] = (p & 0xff0000) >> 16;
sir[1] = (p & 0x00ff00) >> 8;
sir[2] = (p & 0x0000ff);
rinsum += sir[0];
ginsum += sir[1];
binsum += sir[2];
rsum += rinsum;
gsum += ginsum;
bsum += binsum;
stackpointer = (stackpointer + 1) % div;
sir = stack[(stackpointer) % div];
routsum += sir[0];
goutsum += sir[1];
boutsum += sir[2];
rinsum -= sir[0];
ginsum -= sir[1];
binsum -= sir[2];
yi++;
}
yw += w;
}
for (x = 0; x < w; x++) {
rinsum = ginsum = binsum = routsum = goutsum = boutsum = rsum = gsum = bsum = 0;
yp = -radius * w;
for (i = -radius; i <= radius; i++) {
yi = Math.max(0, yp) + x;
sir = stack[i + radius];
sir[0] = r[yi];
sir[1] = g[yi];
sir[2] = b[yi];
rbs = r1 - Math.abs(i);
rsum += r[yi] * rbs;
gsum += g[yi] * rbs;
bsum += b[yi] * rbs;
if (i > 0) {
rinsum += sir[0];
ginsum += sir[1];
binsum += sir[2];
} else {
routsum += sir[0];
goutsum += sir[1];
boutsum += sir[2];
}
if (i < hm) {
yp += w;
}
}
yi = x;
stackpointer = radius;
for (y = 0; y < h; y++) {
// Preserve alpha channel: ( 0xff000000 & pix[yi] )
pix[yi] = (0xff000000 & pix[yi]) | (dv[rsum] << 16) | (dv[gsum] << 8) | dv[bsum];
rsum -= routsum;
gsum -= goutsum;
bsum -= boutsum;
stackstart = stackpointer - radius + div;
sir = stack[stackstart % div];
routsum -= sir[0];
goutsum -= sir[1];
boutsum -= sir[2];
if (x == 0) {
vmin[y] = Math.min(y + r1, hm) * w;
}
p = x + vmin[y];
sir[0] = r[p];
sir[1] = g[p];
sir[2] = b[p];
rinsum += sir[0];
ginsum += sir[1];
binsum += sir[2];
rsum += rinsum;
gsum += ginsum;
bsum += binsum;
stackpointer = (stackpointer + 1) % div;
sir = stack[stackpointer];
routsum += sir[0];
goutsum += sir[1];
boutsum += sir[2];
rinsum -= sir[0];
ginsum -= sir[1];
binsum -= sir[2];
yi += w;
}
}
bitmap.setPixels(pix, 0, w, 0, 0, w, h);
return (bitmap);
}
}

199
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/ImageLoaderManager.java Normal file
View File

@@ -0,0 +1,199 @@
package com.zhidao.adas.client.utils.image;
import android.content.Context;
import android.widget.ImageView;
import com.bumptech.glide.Glide;
import com.bumptech.glide.Priority;
import com.bumptech.glide.load.engine.DiskCacheStrategy;
import com.bumptech.glide.load.resource.bitmap.CenterCrop;
import com.bumptech.glide.load.resource.bitmap.CircleCrop;
import com.bumptech.glide.load.resource.bitmap.RoundedCorners;
import com.bumptech.glide.load.resource.drawable.DrawableTransitionOptions;
import com.bumptech.glide.request.RequestOptions;
import java.io.File;
/**
* create by libo
* create on 2018/12/26
* description Glide图片加载工具类
*/
public class ImageLoaderManager {
/**
* 默认加载方式
*
* @param context
* @param url
* @param imageView
*/
public static void loadImage(Context context, String url, ImageView imageView) {
RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
.diskCacheStrategy(DiskCacheStrategy.ALL)
.dontAnimate();
Glide.with(context)
.load(url)
.apply(requestOptions)
.transition(DrawableTransitionOptions.withCrossFade())
.into(imageView);
}
/**
* 加载圆形图片
*
* @param context
* @param url
* @param imageView
*/
public static void loadCircleImage(Context context, String url, ImageView imageView) {
RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
.dontAnimate()
.diskCacheStrategy(DiskCacheStrategy.ALL)
.bitmapTransform(new CircleCrop());
Glide.with(context)
.load(url)
.apply(requestOptions)
.transition(DrawableTransitionOptions.withCrossFade())
.into(imageView);
}
/**
* 加载圆角图片
*
* @param context
* @param url
* @param imageView
* @param radius 圆角大小
*/
public static void loadRoundImage(Context context, String url, ImageView imageView, int radius) {
RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
.dontAnimate()
.diskCacheStrategy(DiskCacheStrategy.ALL)
.transforms(new CenterCrop(), new RoundedCorners(radius));
Glide.with(context)
.load(url)
.apply(requestOptions)
.transition(DrawableTransitionOptions.withCrossFade())
.into(imageView);
}
/**
* 加载图片指定大小
*
* @param context
* @param url
* @param imageView
* @param width
* @param height
*/
public static void loadSizeImage(Context context, String url, ImageView imageView, int width, int height) {
RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
.override(width, height)
.diskCacheStrategy(DiskCacheStrategy.RESOURCE);
Glide.with(context)
.load(url)
.apply(requestOptions)
.transition(DrawableTransitionOptions.withCrossFade())
.into(imageView);
}
/**
* 加载资源文件
*
* @param context
* @param resId
* @param imageView
*/
public static void loadImage(Context context, int resId, ImageView imageView) {
RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
.diskCacheStrategy(DiskCacheStrategy.ALL)
.centerCrop();
Glide.with(context)
.load(resId)
.apply(requestOptions)
.into(imageView);
}
/**
* 加载本地图片文件
*
* @param context
* @param file
* @param imageView
*/
public static void loadFileImage(Context context, File file, ImageView imageView) {
RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
.diskCacheStrategy(DiskCacheStrategy.ALL)
.centerCrop();
Glide.with(context)
.load(file)
.apply(requestOptions)
.into(imageView);
}
/**
* 加载字节数组
*
* @param context
* @param data
* @param imageView
*/
public static void loadByteImage(Context context, byte[] data, ImageView imageView) {
RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
.diskCacheStrategy(DiskCacheStrategy.ALL)
.centerCrop();
Glide.with(context)
.load(data)
.apply(requestOptions)
.placeholder(imageView.getDrawable())
.into(imageView);
}
/**
* 加载高斯模糊
*
* @param context
* @param url
* @param imageView
* @param radius 模糊级数 最大25
*/
public static void loadBlurImage(Context context, String url, ImageView imageView, int radius) {
RequestOptions requestOptions = new RequestOptions()
.override(300)
.transforms(new BlurTransformation(radius));
Glide.with(context)
.load(url)
.apply(requestOptions)
.transition(DrawableTransitionOptions.withCrossFade())
.into(imageView);
}
/**
* 加载gif图
*
* @param context
* @param url
* @param imageView
*/
public static void loadGifImage(Context context, String url, ImageView imageView) {
Glide.with(context)
.load(url)
.into(imageView);
}
}

15
app_ipc_monitoring/src/main/res/layout/fragment_info.xml
View File

@@ -24,6 +24,21 @@
android:textSize="16sp"
android:textStyle="bold" />
<androidx.appcompat.widget.AppCompatButton
android:id="@+id/btn_render"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentEnd="true"
android:layout_gravity="center_vertical"
android:layout_marginEnd="5dp"
android:background="@drawable/btn_bg"
android:text="渲染"
android:textColor="@color/colorWhile"
android:textSize="16dp"
android:textStyle="bold"
android:visibility="gone" />
</RelativeLayout>
<LinearLayout

6
app_ipc_monitoring/src/main/res/layout/layout_back_camera.xml Normal file
View File

@@ -0,0 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<ImageView xmlns:android="http://schemas.android.com/apk/res/android"
android:id="@+id/image_view"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#000" />

12
app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
View File

@@ -26,6 +26,7 @@ import android.widget.RadioGroup;
import android.widget.TextView;
import android.widget.Toast;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AlertDialog;
import androidx.appcompat.widget.AppCompatButton;
import androidx.recyclerview.widget.GridLayoutManager;
@@ -45,11 +46,13 @@ import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.AdasOptions;
import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import org.jetbrains.annotations.NotNull;
import java.net.Inet4Address;
import java.net.InetAddress;
@@ -498,7 +501,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onPointCloud(byte[] pointCloud) {
public void onPointCloud(MessagePad.Header header, byte[] pointCloud) {
}
@Override
@@ -571,6 +574,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onBackCameraVideo(@NonNull MessagePad.Header header, @NonNull byte[] data) {
}
@Override
public void onSweeperTaskIndexData(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {

12
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -369,7 +369,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
//他车轨迹预测
}
override fun onPointCloud(pointCloud: ByteArray?) {
override fun onPointCloud(header: MessagePad.Header, pointCloud: ByteArray?) {
//点云数据透传
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(pointCloud)
}
@@ -596,6 +596,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
/**
* 清扫车后部摄像头视频 10Hz
*
* @param header 头
* @param data 数据
*/
override fun onBackCameraVideo(header: MessagePad.Header, data: ByteArray) {
CallerSweeperFutianBackCameraVideoListenerManager.invokeSweeperFutianBackCameraVideo(data)
}
/**
* 清扫车指标数据
*

11
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt Normal file
View File

@@ -0,0 +1,11 @@
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)
}

23
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt Normal file
View File

@@ -0,0 +1,23 @@
package com.mogo.eagle.core.function.call.autopilot
import chassis.ChassisStatesOuterClass
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
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<IMoGoSweeperFutianBackCameraVideoListener>() {
/**
* 后摄像头视频数据
*/
fun invokeSweeperFutianBackCameraVideo(data: ByteArray) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianBackCameraVideo(data)
}
}
}

15
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -6,7 +6,7 @@ import "geometry.proto";
enum ProtocolVersion
{
Defaultver = 0;
CurrentVersion = 10; //每次修改proto文件增加1
CurrentVersion = 12; //每次修改proto文件增加1
}
enum MessageType
@@ -30,6 +30,7 @@ enum MessageType
MsgTypeOBU = 0x1000a; //OBU
MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
MsgTypeBackCameraVideo = 0x1000d; //清扫车后部摄像头视频 10hz
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -60,6 +61,7 @@ enum MessageType
MsgTypeTripInfoEvent = 0x1011a; //行程信息
MsgTypeBagManagerCmd = 0x1011b; //bag管理
MsgTypePlanningCmd = 0x1011c; //给planning的指令
MsgTypeSetParamReqV2 = 0x1011d; //设置参数命令V2
}
message Header
@@ -139,9 +141,16 @@ message TrackedObject
string strUuid = 101;//String类型车辆ID
}
message BlindAreaData
{
float angleResolution = 1;
repeated int32 distances = 2;
}
message TrackedObjects
{
repeated TrackedObject objs = 1;
BlindAreaData blindAreaData = 2;
}
// message definition for MsgTypeGnssInfo
@@ -598,4 +607,8 @@ message PlanningCmd
PullOverCmd pullOverCmd = 1;
}
//message definition for MsgTypeSetParamReqV2
//refer to param_set_cmd.proto for details
//message definition for MsgTypeBackCameraVideo
//payload:jpeg data

20
libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto Normal file
View File

@@ -0,0 +1,20 @@
syntax = "proto3";
package mogo.telematics;
enum ParamSetType
{
ParamSetTypeNone = 0;
ParamSetTypeBlindArea = 1;
}
message ParamSetCmd
{
uint32 src = 1; // 0: none, 1:pad, 2:aicloud
ParamSetType type = 2;
oneof Value {
bool boolValue = 3;
int64 intValue = 4;
double floatValue = 5;
string stringValue = 6;
}
}

40
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -21,7 +21,6 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.AutopilotReview;
import com.zhidao.support.adas.high.common.ByteUtil;
@@ -45,6 +44,7 @@ import com.zhidao.support.adas.high.socket.FpgaSocket;
import com.zhidao.support.adas.high.subscribe.SubscribeInterface;
import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
import com.zhidao.support.adas.high.thread.DispatchHandler;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhjt.service.chain.ChainLog;
import com.zhjt.service.chain.TracingConstants;
@@ -251,7 +251,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
// dispatchHandlers.put(MessagePad.MessageType.MsgTypeRecordDataConfigResp, new DispatchHandler(MessagePad.MessageType.MsgTypeRecordDataConfigResp, this));
//Planning决策状态
// dispatchHandlers.put(MessagePad.MessageType.MsgTypePlanningDecisionState, new DispatchHandler(MessagePad.MessageType.MsgTypePlanningDecisionState, this));
//清扫车后摄像头数据
dispatchHandlers.put(MessagePad.MessageType.MsgTypeBackCameraVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeBackCameraVideo, this));
}
/**
@@ -446,32 +447,17 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
public void onDispatchRaw(MessagePad.MessageType type, RawData raw) {
// CupidLogUtils.i(TAG, "onDispatchRaw=" + Thread.currentThread().getName() + " TID=" + android.os.Process.myTid());
try {
//分发点云原始数据
if (type == MessagePad.MessageType.MsgTypePointCloud) {
int len = raw.getPackageLengthValue() - raw.getOffsetValue();
byte[] bytes = new byte[len];
System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), bytes, 0, len);
calculateTimeConsumingOnDispatchRaw("3D点云", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
mAdasListener.onPointCloud(bytes);
calculateTimeConsumingBusiness("3D点云", nowTime);
} else {
if (rawUnpack != null) {
if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
MessagePad.Header header = raw.getHeader();
MessagePad.MessageType messageType = header.getMsgType();
IMsg iMsg = myMessageFactory.createMessage(messageType);
if (iMsg == null) {
callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, raw.originalData.toByteArray());
return;
}
iMsg.handlerMsg(raw, mAdasListener);
} else {
callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
}
if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
MessagePad.Header header = raw.getHeader();
MessagePad.MessageType messageType = header.getMsgType();
IMsg iMsg = myMessageFactory.createMessage(messageType);
if (iMsg == null) {
callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, raw.originalData.toByteArray());
return;
}
iMsg.handlerMsg(raw, mAdasListener);
} else {
callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
}
} catch (Exception e) {
callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());

18
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -1,15 +1,16 @@
package com.zhidao.support.adas.high;
import com.mogo.support.obu.ObuScene;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import org.jetbrains.annotations.NotNull;
import bag_manager.BagManagerOuterClass;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.ObuWarningEvent;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
@@ -108,9 +109,10 @@ public interface OnAdasListener {
/**
* 透传的点云数据
*
* @param header 头
* @param pointCloud 原始数据 只包含PointCloud数据
*/
void onPointCloud(byte[] pointCloud);
void onPointCloud(MessagePad.Header header, byte[] pointCloud);
/**
* planning障碍物
@@ -231,10 +233,18 @@ public interface OnAdasListener {
* 重构后的功能状态
*
* @param header 头
* @param functionStates 头
* @param functionStates 数据
*/
void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates);
/**
* 清扫车后部摄像头视频 10Hz
*
* @param header 头
* @param data 数据
*/
void onBackCameraVideo(@NotNull MessagePad.Header header, @NotNull byte[] data);
/**
* 清扫车指标数据
*

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -25,6 +25,7 @@ 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_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

33
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java Normal file
View File

@@ -0,0 +1,33 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
/**
* 清扫车后摄像头
*/
public class BackCameraVideoMessage extends MyAbstractMessageHandler {
public BackCameraVideoMessage() {
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
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);
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);
}
}

14
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -36,6 +36,8 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg functionStatesMessage;//重构后的功能状态
private IMsg sweeperTaskIndexDataMessage;//清扫车指标数据
private IMsg bagManagerMessage;//Bag管理应答
private IMsg backCameraVideoMessage;//清扫车后摄像头
private IMsg pointCloudMessage;//3D点云
private final AutopilotReview autopilotReview;
@@ -99,6 +101,12 @@ public class MyMessageFactory implements IMyMessageFactory {
predictionObstacleTrajectoryMessage = new PredictionObstacleTrajectoryMessage();
}
return predictionObstacleTrajectoryMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
//3D点云
if (pointCloudMessage == null) {
pointCloudMessage = new PointCloudMessage();
}
return pointCloudMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.typeCode) {
//planning障碍物
if (planningObjectsMessage == null) {
@@ -183,6 +191,12 @@ public class MyMessageFactory implements IMyMessageFactory {
bagManagerMessage = new BagManagerMessage();
}
return bagManagerMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO.typeCode) {
//清扫车后摄像头
if (backCameraVideoMessage == null) {
backCameraVideoMessage = new BackCameraVideoMessage();
}
return backCameraVideoMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;

34
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java Normal file
View File

@@ -0,0 +1,34 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
/**
* 3D点云原始数据
*/
public class PointCloudMessage extends MyAbstractMessageHandler {
public PointCloudMessage() {
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
int len = raw.getPackageLengthValue() - raw.getOffsetValue();
byte[] data = new byte[len];
System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
AdasChannel.calculateTimeConsumingOnDispatchRaw("3D点云", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onPointCloud(raw.getHeader(), data);
}
AdasChannel.calculateTimeConsumingBusiness("3D点云", nowTime);
}
}