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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>
This commit is contained in:
donghongyu
2022-07-18 11:02:47 +08:00
parent 747a61330f
commit ef97e0e5bf
7 changed files with 55 additions and 15 deletions
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36
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
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@@ -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)
}
}
}