[Change]

1、升级高精地图打开点云 2、增加点云日志输出 Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
2022-07-18 11:02:47 +08:00
parent 747a61330f
commit ef97e0e5bf
7 changed files with 55 additions and 15 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -249,6 +249,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
    override fun onPointCloud(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
        //点云数据透传
        //Logger.d("pointCloud","pointCloud"+pointCloud);
+        CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header, pointCloud)
    }

    override fun onPointCloud(pointCloud: ByteArray?) {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
@@ -3,9 +3,13 @@ package com.mogo.eagle.core.function.map
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
+import mogo.telematics.pad.MessagePad
+import rule_segement.MogoPointCloudOuterClass
+import java.math.BigDecimal

 /**
 * 订阅点云数据
@@ -56,9 +60,9 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
             * @param isStrong 是否加粗显示
             * @return 是否执行
             */
-            Logger.d(TAG, "====开始传入地图点云数据====")
+            //Logger.d(TAG, "====开始传入地图点云数据====")
            val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, false, true, true)
-            Logger.d(TAG, "====结束传入地图点云数据=====$result")
+            //Logger.d(TAG, "====结束传入地图点云数据=====$result")
        } else {
            if (isDrawPointCloud) {
                Logger.d(TAG, "====停止点云绘制====")
@@ -67,4 +71,16 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
            }
        }
    }
+
+    override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
+//        Logger.d(TAG, "数据对比："
+//                + "\n自车定位：自车的 satelliteTime==${getPrettyNumber(CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().satelliteTime.toString())}   经纬度：${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLat},${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLon}"
+//                + "\n点云数据：点云的 header?.timestamp==${getPrettyNumber(header?.timestamp.toString())}   经纬度：${pointCloud?.selfLatitude},${pointCloud?.selfLongitude}   点云数量：addDataCount==${pointCloud?.addDataCount}  delDataCount===${pointCloud?.delDataCount}  "
+//        )
+    }
+
+    fun getPrettyNumber(number: String): String {
+        return BigDecimal.valueOf(number.toDouble())
+                .stripTrailingZeros().toPlainString()
+    }
 }
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -95,7 +95,7 @@ object FunctionBuildConfig {
     */
    @Volatile
    @JvmField
-    var isDrawPointCloudData = false
+    var isDrawPointCloudData = true

    /**
     * 地图是否忽略判断条件直接绘制工控机引导线数据&全局路径规划
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
@@ -1,5 +1,8 @@
 package com.mogo.eagle.core.function.api.autopilot

+import mogo.telematics.pad.MessagePad
+import rule_segement.MogoPointCloudOuterClass
+

 /**
 * @author xiaoyuzhou
@@ -15,4 +18,9 @@ interface IMoGoAutopilotPointCloudListener {
     */
    fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?)

+    /**
+     *
+     */
+    fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?)
+
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
@@ -3,6 +3,8 @@ package com.mogo.eagle.core.function.call.autopilot
 import androidx.annotation.Nullable
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import mogo.telematics.pad.MessagePad
+import rule_segement.MogoPointCloudOuterClass
 import java.util.concurrent.ConcurrentHashMap

 /**
@@ -13,11 +15,11 @@ import java.util.concurrent.ConcurrentHashMap
 object CallerAutopilotPointCloudListenerManager : CallerBase() {

    // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
-    private val M_AUTOPILOT_IDENTIFY_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotPointCloudListener> =
+    private val M_POINT_CLOUD_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotPointCloudListener> =
            ConcurrentHashMap()

    /**
-     * 添加 域控制器感知数据 监听
+     * 添加 点云数据 监听
     * @param tag 标记，用来注销监听使用
     * @param listener 监听回调
     */
@@ -25,10 +27,10 @@ object CallerAutopilotPointCloudListenerManager : CallerBase() {
            @Nullable tag: String,
            @Nullable listener: IMoGoAutopilotPointCloudListener
    ) {
-        if (M_AUTOPILOT_IDENTIFY_LISTENERS.containsKey(tag)) {
+        if (M_POINT_CLOUD_LISTENERS.containsKey(tag)) {
            return
        }
-        M_AUTOPILOT_IDENTIFY_LISTENERS[tag] = listener
+        M_POINT_CLOUD_LISTENERS[tag] = listener
    }

    /**
@@ -36,34 +38,46 @@ object CallerAutopilotPointCloudListenerManager : CallerBase() {
     * @param tag 标记，用来注销监听使用
     */
    fun removeListener(@Nullable tag: String) {
-        if (!M_AUTOPILOT_IDENTIFY_LISTENERS.containsKey(tag)) {
+        if (!M_POINT_CLOUD_LISTENERS.containsKey(tag)) {
            return
        }
-        M_AUTOPILOT_IDENTIFY_LISTENERS.remove(tag)
+        M_POINT_CLOUD_LISTENERS.remove(tag)
    }

    /**
-     * 删除自动驾驶按钮选中监听
+     * 删除  点云数据 监听
     * @param listener 要删除的监听对象
     */
    fun removeListener(@Nullable listener: IMoGoAutopilotPointCloudListener) {
-        M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
+        M_POINT_CLOUD_LISTENERS.forEach {
            if (it.value == listener) {
-                M_AUTOPILOT_IDENTIFY_LISTENERS.remove(it.key)
+                M_POINT_CLOUD_LISTENERS.remove(it.key)
            }
        }
    }

    /**
-     * 识别交通元素数据发生更新 回调
+     * 点云数据 回调
     */
    @Synchronized
    fun invokeAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
-        M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
+        M_POINT_CLOUD_LISTENERS.forEach {
            val tag = it.key
            val listener = it.value
            listener.onAutopilotPointCloudDataUpdate(pointCloud)
        }
    }

+    /**
+     * 点云数据 回调
+     */
+    @Synchronized
+    fun invokeAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
+        M_POINT_CLOUD_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onAutopilotPointCloudDataUpdate(header, pointCloud)
+        }
+    }
+
 }
--- a/gradle.properties
+++ b/gradle.properties
@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.4.3.7
 MOGO_TELEMATIC_VERSION=1.4.3.7
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.3.0.10
+MAP_SDK_VERSION=2.3.0.11
 MAP_SDK_OPERATION_VERSION=1.0.13
 # websocket
 WEBSOCKET_VERSION=1.1.7
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
@@ -988,6 +988,7 @@ public class AMapViewWrapper implements IMogoMapView,
        bean.setLon(gnssInfo.getLongitude());
        bean.setLat(gnssInfo.getLatitude());
        bean.setGnss_speed(((float) gnssInfo.getGnssSpeed()));
+        bean.setReceiverDataTime(System.currentTimeMillis());
        // 使用外部定位数据修改自车位置
        mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
        CallerMapUIServiceManager.INSTANCE.getSingletonLocationClient(getContext()).updateLocation(bean);