From e7ea7ae9f43b0ea4f51b47fbf6896e1aa7c65589 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Mon, 6 Mar 2023 16:05:31 +0800 Subject: [PATCH] =?UTF-8?q?[opt3.0=5Fback=5Fcamera]=20=E7=A6=8F=E7=94=B0?= =?UTF-8?q?=E6=B8=85=E6=89=AB=E8=BD=A6=E5=90=8E=E6=91=84=E5=83=8F=E5=A4=B4?= =?UTF-8?q?=E6=95=B0=E6=8D=AE=E6=8E=A5=E6=94=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app_ipc_monitoring/build.gradle | 1 + .../zhidao/adas/client/DataDistribution.java | 28 +- .../com/zhidao/adas/client/bean/BaseInfo.java | 16 +- .../zhidao/adas/client/bean/ErrorData.java | 2 +- .../zhidao/adas/client/bean/MyPointCloud.java | 24 -- .../client/bean/OriginalPointCloudData.java | 17 -- .../adas/client/bean/ReceiveBytesData.java | 23 ++ .../adas/client/ui/BackCameraFloatWindow.java | 201 ++++++++++++++ .../zhidao/adas/client/ui/InfoFragment.java | 47 ++++ .../zhidao/adas/client/ui/MainActivity.java | 57 ++-- .../zhidao/adas/client/utils/Constants.java | 1 + .../utils/image/BlurTransformation.java | 99 +++++++ .../adas/client/utils/image/FastBlur.java | 257 ++++++++++++++++++ .../utils/image/ImageLoaderManager.java | 199 ++++++++++++++ .../src/main/res/layout/fragment_info.xml | 15 + .../main/res/layout/layout_back_camera.xml | 6 + .../zhidao/adas/magic/ui/MainActivity.java | 12 +- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 12 +- ...oGoSweeperFutianBackCameraVideoListener.kt | 11 + ...perFutianBackCameraVideoListenerManager.kt | 23 ++ .../src/main/proto/message_pad.proto | 15 +- .../src/main/proto/param_set_cmd.proto | 20 ++ .../zhidao/support/adas/high/AdasChannel.java | 40 +-- .../support/adas/high/OnAdasListener.java | 18 +- .../support/adas/high/common/MessageType.java | 1 + .../adas/high/msg/BackCameraVideoMessage.java | 33 +++ .../adas/high/msg/MyMessageFactory.java | 14 + .../adas/high/msg/PointCloudMessage.java | 34 +++ 28 files changed, 1117 insertions(+), 109 deletions(-) delete mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java delete mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java create mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveBytesData.java create mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/BackCameraFloatWindow.java create mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/BlurTransformation.java create mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/FastBlur.java create mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/ImageLoaderManager.java create mode 100644 app_ipc_monitoring/src/main/res/layout/layout_back_camera.xml create mode 100644 core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt create mode 100644 core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt create mode 100644 libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java diff --git a/app_ipc_monitoring/build.gradle b/app_ipc_monitoring/build.gradle index ce5118ccdd..bad8db6879 100644 --- a/app_ipc_monitoring/build.gradle +++ b/app_ipc_monitoring/build.gradle @@ -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') diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java index 851fe8b076..49d225165e 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java @@ -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 listPlanningDecisionState = new ArrayList<>(); public final List listChassisStates = new ArrayList<>(); public final List listFSMFunctionStates = new ArrayList<>(); + public final List listBackCameraVideo = new ArrayList<>(); public final List listRoboSweeperTaskIndex = new ArrayList<>(); public final List listBagManagerCmd = new ArrayList<>(); public final List 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) { diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java index f67a2ee02a..41b65e5472 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java @@ -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; } } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java index 3973ba0938..b47e46b909 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java @@ -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); } } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java deleted file mode 100644 index 44143d894a..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java +++ /dev/null @@ -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); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java deleted file mode 100644 index b51c9c4cd6..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java +++ /dev/null @@ -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); - } -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveBytesData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveBytesData.java new file mode 100644 index 0000000000..ac72a5b7cf --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveBytesData.java @@ -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); + } + +} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/BackCameraFloatWindow.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/BackCameraFloatWindow.java new file mode 100644 index 0000000000..5d57765dbb --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/BackCameraFloatWindow.java @@ -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 mObjects; + + public BaseHandler(BackCameraFloatWindow mPresenter) { + mObjects = new WeakReference(mPresenter); + } + + @Override + public void handleMessage(Message msg) { + BackCameraFloatWindow mPresenter = mObjects.get(); + if (mPresenter != null) + mPresenter.handleMessage(msg); + } + } + +} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java index 9f355337f5..254347a1db 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java @@ -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); + } + } } 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 6e2cd0d297..ff9b538ff3 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 @@ -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); diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java index f13f2de4e5..29c5db7fcb 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java @@ -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; diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/BlurTransformation.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/BlurTransformation.java new file mode 100644 index 0000000000..d224c9800f --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/BlurTransformation.java @@ -0,0 +1,99 @@ +package com.zhidao.adas.client.utils.image; + + +/** + * Copyright (C) 2018 Wasabeef + *

+ * 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 + *

+ * http://www.apache.org/licenses/LICENSE-2.0 + *

+ * 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)); + } +} \ No newline at end of file diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/FastBlur.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/FastBlur.java new file mode 100644 index 0000000000..66028e2ecb --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/FastBlur.java @@ -0,0 +1,257 @@ +package com.zhidao.adas.client.utils.image; + +import android.graphics.Bitmap; + +/** + * Copyright (C) 2018 Wasabeef + *

+ * 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 + *

+ * http://www.apache.org/licenses/LICENSE-2.0 + *

+ * 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 + // http://incubator.quasimondo.com + // created Feburary 29, 2004 + // Android port : Yahel Bouaziz + // 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 + + 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); + } +} \ No newline at end of file diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/ImageLoaderManager.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/ImageLoaderManager.java new file mode 100644 index 0000000000..b2a7d10cdb --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/ImageLoaderManager.java @@ -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); + } +} \ No newline at end of file diff --git a/app_ipc_monitoring/src/main/res/layout/fragment_info.xml b/app_ipc_monitoring/src/main/res/layout/fragment_info.xml index 2199310982..adad72cb90 100644 --- a/app_ipc_monitoring/src/main/res/layout/fragment_info.xml +++ b/app_ipc_monitoring/src/main/res/layout/fragment_info.xml @@ -24,6 +24,21 @@ android:textSize="16sp" android:textStyle="bold" /> + + + + \ No newline at end of file diff --git a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java index 3c1ea13ce0..2cd3783eb5 100644 --- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java +++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java @@ -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) { 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 e54d166cf0..dfcd3dd961 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 @@ -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 * 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 new file mode 100644 index 0000000000..225832cf39 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt @@ -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) +} \ 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 new file mode 100644 index 0000000000..95d2dde9e8 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt @@ -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() { + + /** + * 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-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 4fbde4e724..e32a91efa3 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -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 diff --git a/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto b/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto new file mode 100644 index 0000000000..1524e30c31 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto @@ -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; + } +} 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 b174d75da2..2c78bb7471 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 @@ -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()); 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 8a5318bf1e..a979279247 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 @@ -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 * 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 92f1d31659..fdeb95356d 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 @@ -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"), 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 new file mode 100644 index 0000000000..835597daff --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java @@ -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); + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index 11ec50a301..1597921140 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -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; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java new file mode 100644 index 0000000000..b2a80cf4bb --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java @@ -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); + } +}