From f0467b6f15f0701974d2c0440a09851715528cde Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Tue, 9 May 2023 18:09:51 +0800 Subject: [PATCH] =?UTF-8?q?[m1]=20M1=E6=8B=BC=E6=8E=A5=E8=A7=86=E9=A2=91?= =?UTF-8?q?=E6=95=B0=E6=8D=AE=E6=8E=A5=E5=8F=A3=E5=92=8C=E6=B8=85=E6=89=AB?= =?UTF-8?q?=E8=BD=A6=E6=91=84=E5=83=8F=E5=A4=B4=E6=95=B0=E6=8D=AE=E6=8E=A5?= =?UTF-8?q?=E5=8F=A3=E9=81=97=E6=BC=8F=E6=8F=90=E4=BA=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../eagle/core/function/hmi/ui/widget/MogoVideoView.java | 2 +- .../function/call/autopilot/CallerAutoPilotControlManager.kt | 2 +- .../main/java/com/zhidao/support/adas/high/AdasChannel.java | 2 ++ .../com/zhidao/support/adas/high/common/MessageType.java | 5 ++++- .../support/adas/high/subscribe/SubscribeInterface.java | 3 ++- 5 files changed, 10 insertions(+), 4 deletions(-) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java index 6c8b01a1e0..492a90e6a7 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java @@ -24,7 +24,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils; /** * 清扫车摄像头展示View 10Hz - * M1拼接视频展示View 10Hz 需要订阅此数据：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe) + * M1拼接视频展示View 10Hz 需要订阅（连接成功后订阅才生效）：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe) */ public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener { private static final String TAG = MogoVideoView.class.getSimpleName(); diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt index ac9d0f4e5d..c2e55dd28e 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt @@ -512,7 +512,7 @@ object CallerAutoPilotControlManager { } /** - * 设置M1拼接视频接口订阅 + * 设置M1拼接视频接口订阅（连接成功后订阅才生效） * @param isSubscribe 是否订阅 */ fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean) { 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 554c2e6774..a3311dccab 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 @@ -259,6 +259,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec // 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)); + //M1拼接视频 + dispatchHandlers.put(MessagePad.MessageType.MsgTypeM1StitchedVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeM1StitchedVideo, this)); } /** 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 784c9f22a0..4d8477a1e4 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 @@ -4,7 +4,10 @@ import mogo.telematics.pad.MessagePad; /** * 工控机发送或接收的类型 - * 工控机接收接口必须包含TYPE_RECEIVE + * 工控机接收接口必须包含：TYPE_RECEIVE + * 目前收发相同的Type： + * * MessagePad.MessageType.MsgTypeBagManagerCmd + * * MessagePad.MessageType.MsgTypeTaskCmd * * @author nie yunlong * @description 请求值 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java index 5ad742be4f..37d22f46a4 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java @@ -138,7 +138,8 @@ public class SubscribeInterface { MessageType[] types = MessageType.values(); if (types.length > 0) { for (MessageType messageType : types) { - if (messageType.name().toLowerCase().contains("type_receive")) { + //连接成功后只有M1拼接视频接收接口默认不进行订阅，其他接收接口默认自动订阅 + if (messageType != MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO && messageType.name().toLowerCase().contains("type_receive")) { subscribedInterface.put(messageType, messageType.typeCode.getNumber()); } }