[opt3.0_back_camera] 福田清扫车后摄像头数据接收

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
      *

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)
+}

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<IMoGoSweeperFutianBackCameraVideoListener>() {
+
+    /**
+     * 后摄像头视频数据
+     */
+    fun invokeSweeperFutianBackCameraVideo(data: ByteArray) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSweeperFutianBackCameraVideo(data)
+        }
+    }
+}