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 65babeb785..b2c4656337 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 @@ -12,6 +12,7 @@ import com.zhidao.adas.client.bean.GlobalPathResp; import com.zhidao.adas.client.bean.GnssInfo; import com.zhidao.adas.client.bean.MogoReportMessage; import com.zhidao.adas.client.bean.MyPointCloud; +import com.zhidao.adas.client.bean.OriginalPointCloudData; import com.zhidao.adas.client.bean.PerceptionTrafficLight; import com.zhidao.adas.client.bean.PlanningObjects; import com.zhidao.adas.client.bean.PredictionObstacleTrajectory; @@ -112,6 +113,7 @@ public class DataDistribution { public final List listStatusInfo = new ArrayList<>(); public final List listErrorData = new ArrayList<>(); public final List listPointCloud = new ArrayList<>(); + public final List listOriginalPointCloud = new ArrayList<>(); public final List listPlanningObjects = new ArrayList<>(); public String cutDown(String str) { @@ -148,6 +150,14 @@ public class DataDistribution { if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD.equals(listener.first)) { listener.second.onRefresh(); } + } else if (data instanceof OriginalPointCloudData) { + listOriginalPointCloud.add(0, 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 (data instanceof PlanningObjects) { listPlanningObjects.add(0, time + str); if (listPlanningObjects.size() > LIST_SIZE) { 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 new file mode 100644 index 0000000000..b51c9c4cd6 --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java @@ -0,0 +1,17 @@ +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/ui/InfoFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java index 148f773758..72c81dccba 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 @@ -129,6 +129,8 @@ public class InfoFragment extends BaseFragment { adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory); } else if (Constants.TITLE.RECEIVE_POINT_CLOUD.equals(title)) { adapter.setData(DataDistribution.getInstance().listPointCloud); + }else if (Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(title)) { + adapter.setData(DataDistribution.getInstance().listOriginalPointCloud); } else if (Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(title)) { adapter.setData(DataDistribution.getInstance().listPlanningObjects); }else{ 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 d58e1a2299..edda866112 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 @@ -65,6 +65,7 @@ import com.zhidao.adas.client.bean.GnssInfo; import com.zhidao.adas.client.bean.IPCConnectState; import com.zhidao.adas.client.bean.MogoReportMessage; import com.zhidao.adas.client.bean.MyPointCloud; +import com.zhidao.adas.client.bean.OriginalPointCloudData; import com.zhidao.adas.client.bean.PerceptionTrafficLight; import com.zhidao.adas.client.bean.PlanningObjects; import com.zhidao.adas.client.bean.PredictionObstacleTrajectory; @@ -580,6 +581,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT); titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY); titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD); + titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL); titleFragmentData.add(Constants.TITLE.RECEIVE_PLANNING_OBJECTS); titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP); titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT); @@ -810,6 +812,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas // LogSave.getInstance().saveLog("转换数据=" + data); } + @Override + public void onPointCloud(byte[] pointCloud) { + OriginalPointCloudData base = new OriginalPointCloudData(pointCloud); + DataDistribution.getInstance().addData(base); + } + @Override public void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects) { PlanningObjects base = new PlanningObjects(header, planningObjects, 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 6073b61c67..3aab3ec62e 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 @@ -158,6 +158,7 @@ public class Constants { String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.desc; String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.desc; String RECEIVE_POINT_CLOUD = MessageType.TYPE_RECEIVE_POINT_CLOUD.desc; + String RECEIVE_POINT_CLOUD_ORIGINAL = "点云原始透传"; String RECEIVE_PLANNING_OBJECTS = MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.desc; // String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求"; 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 e0db4270e4..51851456f5 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 @@ -61,11 +61,15 @@ import okio.ByteString; */ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IPCFixationIPHelper.IIPCFixationIPListener, DispatchHandler.OnDispatchHandlerListener { private static final String TAG = AdasChannel.class.getSimpleName(); + private static final String THREAD_NAME_DISPATCH_EVENT = "IPCEventDispatchHandler";//除点云单独拆分线程以外都是用此名称 + private static final String THREAD_NAME_DISPATCH_POINT_CLOUD = "IPCPointCloudDispatchHandler"; + private static final String THREAD_NAME_DISPATCH_PARSE_POINT_CLOUD = "IPCParsePointCloudDispatchHandler";//解析点云线程 地图支持后将会删除 private FpgaSocket mSocket; private RawUnpack rawUnpack;//业务数据拆包 private RawPack rawPack;//数据打包 private DispatchHandler dispatchHandler;//分发 - private DispatchHandler dispatchHandlerPointCloud;//点云分发 + private DispatchHandler dispatchHandlerPointCloud;//原始的点云数据分发 + private DispatchHandler dispatchHandlerParsePointCloud;//解析过的点云数据分发 地图支持后将会删除 private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息 /** * 与工控机链接状态 @@ -78,10 +82,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ public static final boolean isUseQueue = false; - /** - * 本通道是否启用分发线程 收发和分发拆分成两个线程 - */ - public static final boolean ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER = true; /** * 消息工厂 @@ -156,11 +156,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec rawPack = new RawPack(); //消息工厂 myMessageFactory = new MyMessageFactory(); - //司机端以及启用线程分发时 - if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) { - dispatchHandler = new DispatchHandler(this); - dispatchHandlerPointCloud = new DispatchHandler(this); - } + //启用线程分发 + dispatchHandler = new DispatchHandler(THREAD_NAME_DISPATCH_EVENT, this); + dispatchHandlerPointCloud = new DispatchHandler(THREAD_NAME_DISPATCH_POINT_CLOUD, this); + dispatchHandlerParsePointCloud = new DispatchHandler(THREAD_NAME_DISPATCH_PARSE_POINT_CLOUD, this); } /** @@ -267,16 +266,15 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec ReceiveTimeoutManager.getInstance().refreshLast(header.getTimestamp()); // CupidLogUtils.w("--->websocket byte read header = " + messageType.toString()); //判断是否是司机屏幕，是否切换分发线程 - if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) { - if (header.getMsgType() == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) { - if (dispatchHandlerPointCloud != null) - dispatchHandlerPointCloud.sendRawMessage(raw); - } else { - if (dispatchHandler != null) - dispatchHandler.sendRawMessage(raw); + if (header.getMsgType() == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) { + if (dispatchHandlerPointCloud != null) { + dispatchHandlerPointCloud.sendRawMessage(raw); } + if (dispatchHandlerParsePointCloud != null) + dispatchHandlerParsePointCloud.sendRawMessage(raw); } else { - dispatchRaw(raw); + if (dispatchHandler != null) + dispatchHandler.sendRawMessage(raw); } } else { callError(raw.getProtocolStatus(), byteString.toByteArray()); @@ -288,37 +286,37 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } } - /** * 分发和解析 * * @param raw */ - private void dispatchRaw(RawData raw) { - try { - 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()); - } - } - } catch (Exception e) { - callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray()); - CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e); - } - } - @Override - public void onDispatchRaw(RawData raw) { - dispatchRaw(raw); + public void onDispatchRaw(String threadName, RawData raw) { + //分发点云原始数据 + if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) { + mAdasListener.onPointCloud(raw.originalData.toByteArray()); + } else { + try { + 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()); + } + } + } catch (Exception e) { + callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray()); + CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e); + } + } } private void callError(ProtocolStatus status, byte[] bytes) { @@ -475,13 +473,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason); } if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) { - if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) { - if (dispatchHandler != null) { - dispatchHandler.start(); - } - if (dispatchHandlerPointCloud != null) { - dispatchHandlerPointCloud.start(); - } + if (dispatchHandler != null) { + dispatchHandler.start(); + } + if (dispatchHandlerPointCloud != null) { + dispatchHandlerPointCloud.start(); + } + if (dispatchHandlerParsePointCloud != null) { + dispatchHandlerParsePointCloud.start(); } startCheckCompatibility(); } else { @@ -489,13 +488,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) { AdasManager.getInstance().setCarConfig(null); - if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) { - if (dispatchHandler != null) { - dispatchHandler.stop(); - } - if (dispatchHandlerPointCloud != null) { - dispatchHandlerPointCloud.stop(); - } + if (dispatchHandler != null) { + dispatchHandler.stop(); + } + if (dispatchHandlerPointCloud != null) { + dispatchHandlerPointCloud.stop(); + } + if (dispatchHandlerParsePointCloud != null) { + dispatchHandlerParsePointCloud.stop(); } } CupidLogUtils.i(TAG, "工控机连接状态 status=" + status + " reason=" + reason); 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 8525cae391..15e4327228 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 @@ -97,6 +97,13 @@ public interface OnAdasListener { */ void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud); + /** + * 透传的点云数据 + * + * @param pointCloud 原始数据 包括Header+pointCloud + */ + void onPointCloud(byte[] pointCloud); + /** * planning障碍物 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java index dd173d2fb7..5c2f349a93 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java @@ -11,31 +11,29 @@ import com.zhidao.support.adas.high.protocol.RawData; import java.lang.ref.WeakReference; -import okio.ByteString; - /** * 将WebSocket线程分发到工作线程 */ public class DispatchHandler { public static final int WHAT_DISPATCH_RAW = 0x01;//分发消息 what - - + private final String name; + private final OnDispatchHandlerListener listener; private HandlerThread mThread; private BaseHandler mBaseHandler; - private OnDispatchHandlerListener listener; public interface OnDispatchHandlerListener { - void onDispatchRaw(RawData raw); + void onDispatchRaw(String threadName, RawData raw); } - public DispatchHandler(@NonNull OnDispatchHandlerListener listener) { - this.listener = listener; + public DispatchHandler(String name, @NonNull OnDispatchHandlerListener listener) { + this.listener = listener; + this.name = name; } public void start() { if (mThread == null) { - mThread = new HandlerThread("IPCEventDispatchHandler"); + mThread = new HandlerThread(name); mThread.start(); initHandler(mThread.getLooper()); } @@ -72,7 +70,7 @@ public class DispatchHandler { protected void handleMessage(Message msg) { if (msg.what == WHAT_DISPATCH_RAW) { if (listener != null) { - listener.onDispatchRaw((RawData) msg.obj); + listener.onDispatchRaw(name, (RawData) msg.obj); } } }