commmit

src/package/global/camera.go

@@ -0,0 +1,23 @@
+package global
+
+import "dcl_dispatch_server/src/package/entity"
+
+var DefaultCameras = []entity.SensorCamera{
+	{
+		Sensor: entity.Sensor{
+			SensorName: "custom_camera",
+			SensorNear: 1.0,
+			SensorFar:  1500.0,
+			SensorX:    -15000.0,
+			SensorY:    0.0,
+			SensorZ:    5000.0,
+			SensorH:    0.0,
+			SensorP:    10.0,
+			SensorR:    0.0,
+		},
+		SensorForH:       45,
+		SensorForV:       27,
+		SensorResolution: "960*540",
+		SensorFrameRate:  10,
+	},
+}

src/package/service/run_task.go

@@ -182,7 +182,6 @@ func RunWaitingCluster() {
 		}
 		infra.GlobalLogger.Infof("偏移量【%v】加一给下个任务使用。", offsetKey)
 
-		// ---------------
 		// ------- 解析 xosc ,从xosc中解析起终点位置&修改 xodr 和 osgb ---------------
 		xoscOssPath := firstTaskCache.Task.Scenario.ScenarioOsc
 		tempDir := "/mnt/disk001/dcl_dispatch_server/temp/"
@@ -204,31 +203,17 @@ func RunWaitingCluster() {
 
 		// --------------- 发送 kafka 消息（获取偏移量和分区） ---------------
 		// 获取任务消息转json
-		// 将摄像头写死一个参数
-		firstTaskCache.Task.Vehicle.Sensors.Camera = []entity.SensorCamera{
-			{
-				Sensor: entity.Sensor{
-					SensorName: "custom_camera",
-					SensorNear: 1.0,
-					SensorFar:  1500.0,
-					SensorX:    -15000.0,
-					SensorY:    0.0,
-					SensorZ:    5000.0,
-					SensorH:    0.0,
-					SensorP:    10.0,
-					SensorR:    0.0,
-				},
-				SensorForH:       45,
-				SensorForV:       27,
-				SensorResolution: "960*540",
-				SensorFrameRate:  10,
-			},
-		}
+		firstTaskCache.Task.Vehicle.Sensors.Camera = global.DefaultCameras
 		taskJson, err := TaskToJson(firstTaskCache.Task)
 		if err != nil {
 			infra.GlobalLogger.Error(err)
 			continue
 		}
+		// ------- 修改OGT传感器显示目标物框 -------
+		for i := range firstTaskCache.Task.Vehicle.Sensors.OGT {
+			firstTaskCache.Task.Vehicle.Sensors.OGT[i].SensorDisplay = true
+		}
+		// ------- 发送 -------
 		topic := projectId
 		// 创建一个Message，并指定分区为0
 		msg := &kafka.Message{