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[change]添加点云原始数据接口

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This commit is contained in:
xinfengkun
2022-06-14 14:38:07 +08:00
committed by liujing
parent d8c05d09d2
commit fcb10cff56
8 changed files with 110 additions and 67 deletions
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10
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
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@@ -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<String> listStatusInfo = new ArrayList<>();
public final List<String> listErrorData = new ArrayList<>();
public final List<String> listPointCloud = new ArrayList<>();
public final List<String> listOriginalPointCloud = new ArrayList<>();
public final List<String> 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) {

17
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java Normal file
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@@ -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);
}
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
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@@ -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{

8
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -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);

1
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -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";