diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index 1c66b56dd4..d05d7336e4 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -114,6 +114,14 @@ import com.zhjt.mogo.adas.data.bean.LaunchConditionData import com.zhjt.mogo.adas.data.bean.NodeStateInfo import com.zhjt.mogo.adas.data.bean.ReceivedAck import com.zhjt.mogo.adas.data.bean.UnableLaunchReason +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceAvwInfo +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceEvwInfo +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceGlosaInfo +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceLaneSpdLmtInfo +import com.zhjt.mogo.adas.data.bean.cloud.info.AstFuncTlmInfo +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AstFuncPojo import com.zhjt.mogo.adas.data.bean.power.PowerData import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask @@ -1486,6 +1494,99 @@ class MoGoAdasListenerImpl : OnAdasListener { CallerImgUploadCloudManager.invokeImgUploadCloudStatusResp(resp) } + /** + * NDE下发 信号灯信息 + * + * @param header 头 + * @param astFuncPojo 云端辅助功能信息 + * @param astFuncTlmInfo 云端下发信号灯信息 + */ + override fun onNdeCloudAstFuncTlm( + header: MessagePad.Header, + astFuncPojo: AstFuncPojo, + astFuncTlmInfo: AstFuncTlmInfo + ) { + } + + /** + * NDE下发 信号灯路口车速引导功能指令 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceGlosaInfo 信号灯路口车速引导功能指令 + */ + override fun onNdeCloudAdviceGlosa( + header: MessagePad.Header, + advicePojo: AdvicePojo, + adviceGlosaInfo: AdviceGlosaInfo + ) { + } + + /** + * NDE下发 通用 RSI 预警指令 + * 包含： + * 闯红灯预警 + * 行驶车道建议 + * 交通拥堵提醒 + * 道路危险状况提示 + * 超视距弱势交通参与者提醒 + * 路口其他车辆闯红灯预警 + * 障碍物(路面遗撒)预警 + * 能见度预警 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceComRsiInfo 通用RSI预警指令 + */ + override fun onNdeCloudAdviceComRsi( + header: MessagePad.Header, + advicePojo: AdvicePojo, + adviceComRsiInfo: AdviceComRsiInfo + ) { + } + + /** + * NDE下发 紧急车辆预警指令 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceEvwInfo 紧急车辆预警指令 + */ + override fun onNdeCloudAdviceEvw( + header: MessagePad.Header, + advicePojo: AdvicePojo, + adviceEvwInfo: AdviceEvwInfo + ) { + } + + /** + * NDE下发 动态车道级限速指令 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceLaneSpdLmtInfo 动态车道级限速指令 + */ + override fun onNdeCloudAdviceLaneSpdLmt( + header: MessagePad.Header, + advicePojo: AdvicePojo, + adviceLaneSpdLmtInfo: AdviceLaneSpdLmtInfo + ) { + } + + /** + * NDE下发 异常车辆预警指令 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceAvwInfo 异常车辆预警指令 + */ + override fun onNdeCloudAdviceAvw( + header: MessagePad.Header, + advicePojo: AdvicePojo, + adviceAvwInfo: AdviceAvwInfo + ) { + } + /** * 是否可以启动自动驾驶 * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java index cdf74eff2b..a00f886642 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java @@ -97,6 +97,7 @@ public enum MessageType { TYPE_SEND_SSM_FUNC_STATUS_QUERY(MessagePad.MessageType.MsgTypeSSMFuncStatusQuery, "SSM功能状态查询"), TYPE_RECEIVE_SSM_FUNC_STATUS_QUERY(MessagePad.MessageType.MsgTypeSSMFuncStatusQuery, "SSM功能状态响应"), TYPE_SEND_CAPTURE_IMG_REQ_ON_TAKE_OVER(MessagePad.MessageType.MsgTypeCaptureImgReqOnTakeOver, "接管时摄像头数据请求"), + TYPE_RECEIVE_CLOUD_CONTROL(MessagePad.MessageType.MsgTypeEzhouCloud, "云控数据"), TYPE_SEND_COPY_BAG(MessagePad.MessageType.MsgTypeCopyBag, "数据落盘控制"), TYPE_RECEIVE_COPY_BAG(MessagePad.MessageType.MsgTypeCopyBag, "数据落盘响应"), TYPE_SEND_CLOUD_CONFIG(MessagePad.MessageType.MsgTypeCloudConfig, "云端配置查询"), diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceComRsiEventSource.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceComRsiEventSource.java new file mode 100644 index 0000000000..077dec2ab6 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceComRsiEventSource.java @@ -0,0 +1,59 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 实时决策建议 控车变道建议转向状态 + * 出口定义从当前道路逆时针算起 + */ +public enum AdviceComRsiEventSource { + ERROR(-1, "异常"), + UNDEFINED(255, "缺省"), + UNKNOWN(0, "未知来源"), + TRAFFIC_POLICE(1, "交管部门"), + GOVERNMENT(2, "其他政府部门"), + METEOROLOGY(3, "气象部门"), + INTERNET(4, "互联网"), + SENSING(5, "路侧或云端感知"), + OTHER(6, "其他来源"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + public static final AdviceComRsiEventSource[] ALL = values(); + + AdviceComRsiEventSource(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + public static AdviceComRsiEventSource getType(int type) { + for (AdviceComRsiEventSource tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceEventType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceEventType.java new file mode 100644 index 0000000000..87f1bc9171 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceEventType.java @@ -0,0 +1,53 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 实时决策建议 事件分类 + */ +public enum AdviceEventType { + ERROR(-1, "异常"), + UNKNOWN(0, "未知类型"), + TRAFFIC_EVENT(1, "道路交通事件"), + TRAFFIC_SIGN(2, "道路交通标志"), + CLOUD_DECISION(3, "云端决策建议"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + public static final AdviceEventType[] ALL = values(); + + AdviceEventType(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + public static AdviceEventType getType(int type) { + for (AdviceEventType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceEvwType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceEvwType.java new file mode 100644 index 0000000000..4b7c8de7ff --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceEvwType.java @@ -0,0 +1,67 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 实时决策建议 紧急车辆预警指令 车辆类型 + */ +public enum AdviceEvwType { + ERROR(-1, "异常"), + RESERVED(-2, "预留"), + UNDEFINED(255, "缺省"), + INVALID(0, "失效"), + AMBULANCE(1, "救护车"), + POLICE_CAR(2, "警车"), + FIRE_TRUCK(3, "消防车"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + private int reservedRealType;//当异预留真实的type + public static final AdviceEvwType[] ALL = values(); + + AdviceEvwType(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + public int getReservedRealType() { + return reservedRealType; + } + + public static AdviceEvwType getType(int type) { + if (type >= 4 && type <= 10) { + RESERVED.reservedRealType = type; + return RESERVED; + } + for (AdviceEvwType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else if (type == -2) { + return desc + "(" + reservedRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceGlosaSpdExpManeuver.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceGlosaSpdExpManeuver.java new file mode 100644 index 0000000000..3905ed2abd --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceGlosaSpdExpManeuver.java @@ -0,0 +1,55 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 实时决策建议 信号灯路口车速引导功能指令 车道方向建议速度 通行行为 + */ +public enum AdviceGlosaSpdExpManeuver { + UNKNOWN(-1, "未知"), + UNDEFINED(255, "缺省"), + STRAIGHT(0, "直行"), + LEFT(1, "左转"), + RIGHT(3, "右转"), + U_TURN(4, "掉头"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int unknownRealType;//当未知时真实的type + public static final AdviceGlosaSpdExpManeuver[] ALL = values(); + + AdviceGlosaSpdExpManeuver(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getUnknownRealType() { + return unknownRealType; + } + + public static AdviceGlosaSpdExpManeuver getType(int type) { + for (AdviceGlosaSpdExpManeuver tem : ALL) { + if (type == tem.type) { + return tem; + } + } + UNKNOWN.unknownRealType = type; + return UNKNOWN; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + unknownRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceGlosaType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceGlosaType.java new file mode 100644 index 0000000000..0d33ba1b79 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceGlosaType.java @@ -0,0 +1,53 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 实时决策建议 信号灯路口车速引导功能指令 命令标识 + */ +public enum AdviceGlosaType { + ERROR(-1, "异常"), + INVALID(0, "失效"), + GUIDE(1, "引导"), + PARK(2, "停车指令"), + START(3, "启动指令"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + public static final AdviceGlosaType[] ALL = values(); + + AdviceGlosaType(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + public static AdviceGlosaType getType(int type) { + for (AdviceGlosaType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceInstructDirection.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceInstructDirection.java new file mode 100644 index 0000000000..c8c8ac110a --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceInstructDirection.java @@ -0,0 +1,63 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 实时决策建议 控车变道建议转向状态 + * 出口定义从当前道路逆时针算起 + */ +public enum AdviceInstructDirection { + ERROR(-1, "异常"), + UNDEFINED(255, "缺省"), + KEEP_LANE(0, "沿车道行驶"), + EXIT_1(1, "第一出口"), + EXIT_2(2, "第二出口"), + EXIT_3(3, "第三出口"), + EXIT_4(4, "第四出口"), + EXIT_5(5, "第五出口"), + EXIT_6(6, "第六出口"), + EXIT_7(7, "第七出口"), + EXIT_8(8, "第八出口"), + CHANGE_LEFT(9, "左变道"), + CHANGE_RIGHT(10, "右变道"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + public static final AdviceInstructDirection[] ALL = values(); + + AdviceInstructDirection(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + public static AdviceInstructDirection getType(int type) { + for (AdviceInstructDirection tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceType.java new file mode 100644 index 0000000000..36d46df069 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AdviceType.java @@ -0,0 +1,72 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 实时决策建议 建议类型 + */ +public enum AdviceType { + ERROR(-1, "异常"), + CLOUD2VEH_ADVICE_GLOSA(1, "信号灯路口车速引导功能指令"), + VEH2CLOUD_ADVICE_GLOSA_RES(2, "信号灯路口车速引导功能指令返回"), + CLOUD2VEH_ADVICE_NTLAR(3, "无信号灯路口右转功能指令"), + VEH2CLOUD_ADVICE_NTLAR_RES(4, "无信号灯路口右转功能指令返回"), + CLOUD2VEH_ADVICE_LANESPDLMT(5, "动态车道级限速指令"), + VEH2CLOUD_ADVICE_LANESPDLMT_RES(6, "动态车道级限速指令返回"), + CLOUD2VEH_ADVICE_RAMP_INTENT_CHANGE(7, "匝道汇回预警指令"), + VEH2CLOUD_ADVICE_RAMP_INTENT_CHANGE_RES(8, "匝道汇回预警指令返回"), + CLOUD2VEH_ADVICE_FCW(9, "前向碰撞预警指令"), + VEH2CLOUD_ADVICE_FCW_RES(10, "前向碰撞预警返回"), + CLOUD2VEH_ADVICE_AVW(11, "异常车辆预警指令"), + VEH2CLOUD_ADVICE_AVW_RES(12, "异常车辆预警返回"), + CLOUD2VEH_ADVICE_EVW(13, "紧急车辆预警指令"), + VEH2CLOUD_ADVICE_EVW_RES(14, "紧急车辆预警返回"), + CLOUD2VEH_ADVICE_RAMP_ASSIST(15, "匝道辅助指令"), + VEH2CLOUD_ADVICE_RAMP_ASSIST_RES(16, "匝道辅助返回"), + CLOUD2VEH_ADVICE_COM_RSI(17, "通用RSI预警指令"), + VEH2CLOUD_ADVICE_COM_RSI_RES(18, "通用RSI预警返回"), + CLOUD2VEH_ADVICE_GUIDANCE(19, "路线规划指令"), + VEH2CLOUD_ADVICE_GUIDANCE_RES(20, "路线规划返回"), + + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + public static final AdviceType[] ALL = values(); + + AdviceType(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + + public static AdviceType getType(int type) { + for (AdviceType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncTlmControlMode.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncTlmControlMode.java new file mode 100644 index 0000000000..bd0425fa36 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncTlmControlMode.java @@ -0,0 +1,66 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 云端辅助功能 云端下发信号灯信息 红绿灯控制方式 + */ +public enum AstFuncTlmControlMode { + ERROR(-1, "异常"), + RESERVED(-2, "预留"), + UNDEFINED(255, "缺省"), + PERIODIC(1, "固定周期"), + MANUAL(2, "手动控制"), + YELLOW_FLASH(3, "黄闪控制"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + private int reservedRealType;//当异预留真实的type + public static final AstFuncTlmControlMode[] ALL = values(); + + AstFuncTlmControlMode(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + public int getReservedRealType() { + return reservedRealType; + } + + public static AstFuncTlmControlMode getType(int type) { + if (type >= 4 && type <= 254) { + RESERVED.reservedRealType = type; + return RESERVED; + } + for (AstFuncTlmControlMode tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else if (type == -2) { + return desc + "(" + reservedRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncTlmPhaseStateLightState.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncTlmPhaseStateLightState.java new file mode 100644 index 0000000000..a85f51da36 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncTlmPhaseStateLightState.java @@ -0,0 +1,72 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 云端辅助功能 云端下发信号灯信息 红绿灯控制方式 + */ +public enum AstFuncTlmPhaseStateLightState { + ERROR(-1, "异常"), + RESERVED(-2, "预留"), + UNKNOWN(0, "未知状态"), + OFF(1, "信号灯未工作"), + RED_FLASH(2, "红闪"), + RED(3, "红灯状态"), + GREEN_WAIT(4, "绿灯待行状态"), + GREEN(5, "绿灯状态"), + GREEN_PROTECTED(6, "受保护相位绿灯（箭头灯）"), + YELLOW(7, "黄灯状态"), + YELLOW_FLASH(8, "黄闪"), + FAULT(255, "故障"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + private int reservedRealType;//当异预留真实的type + public static final AstFuncTlmPhaseStateLightState[] ALL = values(); + + AstFuncTlmPhaseStateLightState(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + public int getReservedRealType() { + return reservedRealType; + } + + public static AstFuncTlmPhaseStateLightState getType(int type) { + if (type >= 9 && type <= 254) { + RESERVED.reservedRealType = type; + return RESERVED; + } + for (AstFuncTlmPhaseStateLightState tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else if (type == -2) { + return desc + "(" + reservedRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncTlmPhaseStateLightType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncTlmPhaseStateLightType.java new file mode 100644 index 0000000000..91926bd549 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncTlmPhaseStateLightType.java @@ -0,0 +1,79 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 云端辅助功能 云端下发信号灯信息 红绿灯控制方式 + */ +public enum AstFuncTlmPhaseStateLightType { + ERROR(-1, "异常"), + RESERVED(-2, "预留"), + STRAIGHT(1, "直行方向指示信号灯"), + LEFT(2, "左转方向指示信号灯"), + RIGHT(3, "右转方向指示信号灯"), + VEHICLE(4, "机动车信号灯"), + NON_MOTOR_LEFT(5, "左转非机动车信号灯"), + NON_MOTOR_RIGHT(6, "右转非机动车信号灯"), + NON_MOTOR(7, "非机动车信号灯"), + PEDESTRIAN(8, "人行横道信号灯"), + U_TURN(9, "掉头信号灯"), + LANE(10, "车道信号灯"), + CROSSING(11, "道口信号灯"), + WARNING_FLASH(12, "闪光警告信号灯"), + TRAM_STRAIGHT(13, "有轨电车专用信号灯（直行）"), + TRAM_LEFT(14, "有轨电车专用信号灯（左转）"), + TRAM_RIGHT(15, "有轨电车专用信号灯（右转）"), + INVALID(255, "无效或未知灯组类型") + + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + private int reservedRealType;//当异预留真实的type + public static final AstFuncTlmPhaseStateLightType[] ALL = values(); + + AstFuncTlmPhaseStateLightType(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + public int getReservedRealType() { + return reservedRealType; + } + + public static AstFuncTlmPhaseStateLightType getType(int type) { + if (type >= 17 && type <= 254) { + RESERVED.reservedRealType = type; + return RESERVED; + } + for (AstFuncTlmPhaseStateLightType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else if (type == -2) { + return desc + "(" + reservedRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncType.java new file mode 100644 index 0000000000..48af539070 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/AstFuncType.java @@ -0,0 +1,62 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 云端辅助功能信息 辅助功能类别 + */ +public enum AstFuncType { + ERROR(-1, "异常"), + CLOUD2VEH_ASTFUNC_STREAM_VIDEO(1, "云端请求车辆视频流上传指令"), + VEH2CLOUD_ASTFUNC_STREAM_VIDEO_RES(2, "云端请求车辆视频流上传指令返回"), + CLOUD2VEH_ASTFUNC_HIST_VIDEO(3, "云端请求车辆历史视频上传指令"), + VEH2CLOUD_ASTFUNC_HIST_VIDEO_RES(4, "云端请求车辆历史视频上传指令返回"), + CLOUD2VEH_ASTFUNC_HIST_EDR(5, "云端请求车端上传EDR数据"), + CLOUD2VEH_ASTFUNC_HIST_EDR_RES(6, "云端请求车端上传EDR数据返回"), + CLOUD2VEH_ASTFUNC_TLM(7, "云端下发信号灯信息"), + CLOUD2VEH_ASTFUNC_RTCM(9, "云端下发定位增强信息"), + VEH2CLOUD_ASTFUNC_RTCM_RES(10, "云端下发定位增强信息返回"), + CLOUD2VEH_ASTFUNC_RSM(11, "云端下发实时感知信息"), + + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int errorRealType;//当异常时真实的type + public static final AstFuncType[] ALL = values(); + + AstFuncType(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getErrorRealType() { + return errorRealType; + } + + + public static AstFuncType getType(int type) { + for (AstFuncType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + errorRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/CloudDataType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/CloudDataType.java new file mode 100644 index 0000000000..cf4493f6d1 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/CloudDataType.java @@ -0,0 +1,70 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 数据传输类型 + */ +public enum CloudDataType { + ERROR((byte) 0xFF, "异常"), + HEARTBEAT((byte) 0x0C, "心跳"), + HEARTBEAT_RES((byte) 0x0D, "心跳回应"), + VEH2CLOUD_STATE((byte) 0x15, "车辆运行状态信息"), + CLOUD2VEH_INSTRUCT((byte) 0x1E, "云端实时控制建议"), + CLOUD2VEH_REMOTECTL((byte) 0x1F, "云端远程控制"), + VEH2CLOUD_INH((byte) 0x34, "车辆准静态参数上报"), + CLOUD2VEH_INH_RES((byte) 0x35, "车辆准静态参数上报返回"), + VEH2CLOUD_SUBS((byte) 0x36, "车辆功能订阅信息"), + CLOUD2VEH_SUBS_RES((byte) 0x37, "车辆功能订阅信息返回"), + CLOUD2VEH_ADVICE((byte) 0x3C, "实时决策建议"), + VEH2CLOUD_ADVICE_RES((byte) 0x3D, "实时决策建议返回"), + CLOUD2VEH_ASTFUNC((byte) 0x3E, "辅助功能"), + VEH2CLOUD_ASTFUNC_RES((byte) 0x3F, "辅助功能返回"), + VEH2CLOUD_TEST((byte) 0x5C, "上行自定义功能"), + CLOUD2VEH_TEST_RES((byte) 0x5D, "上行自定义功能返回"), + CLOUD2VEH_TEST((byte) 0x5E, "下行自定义功能"), + VEH2CLOUD_TEST_RES((byte) 0x5D, "下行自定义功能返回"), + VEH2CLOUD_STATE_RESEND((byte) 0x60, "车辆运行状态信息补发"), + CLOUD2VEH_STATE_RESEND_RES((byte) 0x61, "车辆运行状态信息补发返回"), + + ; + public final byte type; + + /** + * 描述 + */ + public final String desc; + private byte errorRealType;//当异常时真实的type + public static final CloudDataType[] ALL = values(); + + CloudDataType(byte type, String desc) { + this.type = type; + this.desc = desc; + } + + public byte getErrorRealType() { + return errorRealType; + } + + public static CloudDataType getType(byte type) { + for (CloudDataType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + ERROR.errorRealType = type; + return ERROR; + } + + + @NonNull + @Override + public String toString() { + if (type == (byte) 0xFF) { + return desc + "(" + errorRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/RsiCloudDecisionEventType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/RsiCloudDecisionEventType.java new file mode 100644 index 0000000000..3819d7667f --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/RsiCloudDecisionEventType.java @@ -0,0 +1,62 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 通用RSI预警指令 云端决策 交通事件类型 + */ +public enum RsiCloudDecisionEventType { + UNKNOWN(-1, "未知/异常"), + RED_LIGHT_RUNNING_WARNING(6011, "闯红灯预警功能"), + ROAD_HAZARD_ALERT_SERVICE_6021(6021, "道路危险状况提示服务功能"), + ROAD_HAZARD_ALERT_SERVICE_6022(6022, "道路危险状况提示服务功能"), + DRIVING_LANE_SUGGESTION_6031(6031, "行驶车道建议功能"), + DRIVING_LANE_SUGGESTION_6032(6032, "行驶车道建议功能"), + INTERSECTION_RED_LIGHT_WARNING(6041, "路口其他车辆闯红灯预警功能"), + OVER_THE_HORIZON_VULNERABLE_ROAD_USER_WARNING(6051, "超视距弱势交通参与者预警功能"), + TRAFFIC_CONGESTION_ALERT(6061, "交通拥堵提醒功能"), + VISIBILITY_WARNING(6071, "能见度预警功能"), + ROAD_DEBRIS_WARNING(6081, "路面遗撒预警功能"), + RED_LIGHT_TO_GREEN_ALERT(6012, "红灯即将变绿功能"), + GREEN_LIGHT_TO_RED_ALERT(6013, "绿灯即将变红功能"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int unknownRealType;//当异常时真实的type + public static final RsiCloudDecisionEventType[] ALL = values(); + + RsiCloudDecisionEventType(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getUnknownRealType() { + return unknownRealType; + } + + public static RsiCloudDecisionEventType getType(int type) { + for (RsiCloudDecisionEventType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + UNKNOWN.unknownRealType = type; + return UNKNOWN; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + unknownRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/RsiEventType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/RsiEventType.java new file mode 100644 index 0000000000..cfe0260571 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/RsiEventType.java @@ -0,0 +1,73 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 通用RSI预警指令 交通事件类型 + */ +public enum RsiEventType { + UNKNOWN(-1, "未知/异常"), + PEDESTRIAN_WARNING(5501, "行人提醒"), + NON_MOTOR_WARNING(5502, "非机动车提醒"), + EMERGENCY_BRAKE_WARNING(5503, "紧急制动预警"), + REVERSING_WARNING(5504, "倒车预警"), + WRONG_WAY_WARNING(5505, "逆行预警"), + ABNORMALLY_LOW_SPEED(5506, "异常低速预警"), + ABNORMAL_PARKING(5507, "异常停车预警"), + OVERSPEED_WARNING(5508, "超速预警"), + TRAFFIC_JAM(5509, "交通拥堵预警"), + SPECIAL_VEHICLE_WARNING(5510, "特殊车辆预警"), + EMERGENCY_VEHICLE_WARNING(5511, "紧急车辆预警"), + VEHICLE_STATUS_ABNORMAL(5512, "车辆状态异常预警"), + CONTINUOUS_LANE_CHANGE(5513, "连续并道预警"), + RAMP_TO_MAIN_ROAD(5514, "匝道退回主路预警"), + TRAFFIC_CONTROL(5515, "交通管控预警"), + LOW_FRICTION_ROAD(5516, "路面低摩阻预警"), + LANE_LEVEL_SPEED_LIMIT(5517, "动态车道级限速预警"), + OBSTACLE_REMINDER(5518, "障碍物提醒"), + TRAFFIC_LIGHT_FAULT(5519, "红绿灯故障预警"), + VULNERABLE_PARTICIPANT(5520, "弱势交通参与者预警"), + RED_LIGHT_VIOLATION_WARNING(5521, "闯红灯预警"), + SOLID_LINE_LANE_CHANGE(5522, "机动车压实线变道"), + WRONG_GUIDE_DIRECTION(5523, "机动车不按导向标识行驶"), + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int unknownRealType;//当异常时真实的type + public static final RsiEventType[] ALL = values(); + + RsiEventType(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getUnknownRealType() { + return unknownRealType; + } + + public static RsiEventType getType(int type) { + for (RsiEventType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + UNKNOWN.unknownRealType = type; + return UNKNOWN; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + unknownRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/RsiSignType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/RsiSignType.java new file mode 100644 index 0000000000..327afc6b08 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/cloud/RsiSignType.java @@ -0,0 +1,354 @@ +package com.zhjt.mogo.adas.common.cloud; + + +import androidx.annotation.NonNull; + +/** + * 通用RSI预警指令 交通标志类型 + */ +public enum RsiSignType { + UNKNOWN(-1, "未知/异常"), + CROSS_ROAD(1, "交叉路口"), + SHARP_CURVE(2, "急弯路"), + REVERSE_CURVE(3, "反向弯路"), + CONTINUOUS_CURVES(4, "连续弯路"), + STEEP_SLOPE(5, "陡坡"), + CONTINUOUS_DOWNHILL(6, "连续下坡"), + NARROW_ROAD(7, "窄路"), + NARROW_BRIDGE(8, "窄桥"), + TWO_WAY_TRAFFIC(9, "双向交通"), + CAUTION_PEDESTRIANS(10, "注意行人"), + CAUTION_CHILDREN(11, "注意儿童"), + CAUTION_LIVESTOCK(12, "注意牲畜"), + CAUTION_WILDLIFE(13, "注意野生动物"), + CAUTION_TRAFFIC_LIGHTS(14, "注意信号灯"), + CAUTION_ROCKFALL(15, "注意落石"), + CAUTION_CROSSWIND(16, "注意横风"), + SLIPPERY_ROAD(17, "易滑"), + DANGEROUS_MOUNTAIN_ROAD(18, "傍山险路"), + DAM_ROAD(19, "堤坝路"), + VILLAGE(20, "村庄"), + TUNNEL(21, "隧道"), + FERRY(22, "渡口"), + HUMP_BACK_BRIDGE(23, "驼峰桥"), + UNEVEN_ROAD(24, "路面不平"), + BUMP_DECELERATION_HUMP(25, "路面高突/减速丘"), + LOWLAND_ROAD(26, "路面低洼"), + FLOODED_ROAD(27, "过水路面/过水路面（或漫水桥）"), + GUARDED_RAILWAY_CROSSING(28, "有人看守铁路道口"), + UNGUARDED_RAILWAY_CROSSING(29, "无人看守铁路道口"), + FORK_SYMBOL(30, "叉形符号"), + SLASH_SYMBOL(31, "斜杠符号"), + CAUTION_NON_MOTOR_VEHICLES(32, "注意非机动车"), + CAUTION_DISABLED(33, "注意残疾人"), + ACCIDENT_PRONE_AREA(34, "事故易发路段"), + SLOW_DOWN(35, "慢行"), + CAUTION_OBSTACLES(36, "注意障碍物"), + DANGER(37, "注意危险"), + CONSTRUCTION(38, "施工"), + SUGGESTED_SPEED(39, "建议速度"), + TUNNEL_LIGHTS_ON(40, "隧道开车灯"), + CAUTION_TIDE_LANE(41, "注意潮汐车道"), + MAINTAIN_SAFE_DISTANCE(42, "注意保持车距"), + CAUTION_SEPARATED_ROAD(43, "注意分离式道路"), + CAUTION_MERGE(44, "注意合流"), + EMERGENCY_LANE(45, "避险车道"), + CAUTION_ADVERSE_WEATHER(46, "注意路面结冰、注意雨（雪）天、注意雾天、注意不利气象条件"), + CAUTION_TRAFFIC_QUEUE(47, "注意前方车辆排队"), + STOP_AND_YIELD(48, "停车让行"), + SLOW_DOWN_AND_YIELD(49, "减速让行"), + GIVE_WAY_IN_MEETING(50, "会车让行"), + NO_ENTRY(51, "禁止通行"), + NO_ENTRY_FOR_VEHICLES(52, "禁止驶入"), + NO_MOTOR_VEHICLES(53, "禁止机动车驶入"), + NO_TRUCKS(54, "禁止载货汽车驶入"), + NO_ELECTRIC_TRICYCLES(55, "禁止电动三轮车驶入/禁止三轮车驶入"), + NO_LARGE_BUSES(56, "禁止大型客车驶入/禁止大型载客汽车驶入"), + NO_SMALL_CARS(57, "禁止小型客车驶入/禁止小型载客汽车驶入"), + NO_TRAILERS(58, "禁止挂车、半挂车驶入"), + NO_TRACTORS(59, "禁止拖拉机驶入"), + NO_THREE_WHEELERS_LOW_SPEED_TRUCKS(60, "禁止三轮汽车、低速货车驶入"), + NO_MOTORCYCLES(61, "禁止摩托车驶入"), + NO_TWO_TYPES_VEHICLES(62, "禁止某两种车驶入"), + NO_NON_MOTOR_VEHICLES(63, "禁止非机动车进入"), + NO_LIVESTOCK_VEHICLES(64, "禁止畜力车进入"), + NO_PASSENGER_RICKSHAWS(65, "禁止人力客运三轮车进入"), + NO_CARGO_RICKSHAWS(66, "禁止人力货运三轮车进入"), + NO_HUMAN_POWERED_VEHICLES(67, "禁止人力车进入"), + NO_PEDESTRIANS(68, "禁止行人进入"), + NO_LEFT_TURN(69, "禁止向左转弯"), + NO_RIGHT_TURN(70, "禁止向右转弯"), + NO_STRAIGHT(71, "禁止直行"), + NO_LEFT_RIGHT_TURNS(72, "禁止向左向右转弯"), + NO_STRAIGHT_LEFT_TURN(73, "禁止直行和向左转弯"), + NO_STRAIGHT_RIGHT_TURN(74, "禁止直行和向右转弯"), + NO_UTURN(75, "禁止掉头"), + NO_OVERTAKING(76, "禁止超车"), + OVERTAKING_PERMITTED(77, "解除禁止超车"), + NO_PARKING(78, "禁止停车/禁止车辆停放"), + NO_LONG_TERM_PARKING(79, "禁止长时停车/禁止车辆长时停放"), + NO_HORN(80, "禁止鸣喇叭"), + WIDTH_LIMIT(81, "限制宽度"), + HEIGHT_LIMIT(82, "限制高度"), + WEIGHT_LIMIT(83, "限制质量"), + AXLE_WEIGHT_LIMIT(84, "限制轴重"), + SPEED_LIMIT(85, "限制速度"), + SPEED_LIMIT_LIFTED(86, "解除限制速度"), + STOP_FOR_INSPECTION(87, "停车检查"), + NO_HAZARDOUS_MATERIALS(88, "禁止运输危险物品车辆驶入/禁止危险物品运输车辆驶入"), + CUSTOMS(89, "海关"), + AREA_SPEED_LIMIT(90, "区域限制速度"), + AREA_SPEED_LIMIT_LIFTED(91, "区域限制速度解除"), + AREA_NO_LONG_TERM_PARKING(92, "区域禁止长时停车/区域禁止车辆长时停车"), + AREA_NO_LONG_TERM_PARKING_LIFTED(93, "区域禁止长时停车解除/区域禁止车辆长时停车解除解除"), + AREA_NO_PARKING(94, "区域禁止停车/区域禁止车辆停放"), + AREA_NO_PARKING_LIFTED(95, "区域禁止停车解除/区域禁止车辆停放解除"), + GO_STRAIGHT(96, "直行"), + TURN_LEFT(97, "向左转弯"), + TURN_RIGHT(98, "向右转弯"), + STRAIGHT_AND_LEFT(99, "直行和向左转弯"), + STRAIGHT_AND_RIGHT(100, "直行和向右转弯"), + TURN_LEFT_AND_RIGHT(101, "向左和向右转弯"), + KEEP_RIGHT(102, "靠右侧道路行驶/分隔带右侧行驶"), + KEEP_LEFT(103, "靠左侧道路行驶/分隔带左侧行驶"), + OVERPASS_STRAIGHT_LEFT(104, "立体交叉直行和左转弯行驶"), + OVERPASS_STRAIGHT_RIGHT(105, "立体交叉直行和右转弯行驶"), + ROUNDABOUT(106, "环岛行驶"), + ONE_WAY_LEFT_RIGHT(107, "单行路（向左或向右）"), + ONE_WAY_STRAIGHT(108, "单行路（直行）"), + PEDESTRIAN_ONLY(109, "步行/行人"), + USE_HORN(110, "鸣喇叭"), + MINIMUM_SPEED(111, "最低限速"), + INTERSECTION_PRIORITY(112, "路口优先通行"), + GIVE_WAY_IN_MEETING_PRIORITY(113, "会车先行"), + PEDESTRIAN_CROSSING(114, "人行横道"), + RIGHT_TURN_LANE(115, "右转车道"), + LEFT_TURN_LANE(116, "左转车道"), + STRAIGHT_LANE(117, "直行车道"), + STRAIGHT_RIGHT_COMBINED_LANE(118, "直行和右转合用车道"), + STRAIGHT_LEFT_COMBINED_LANE(119, "直行和左转合用车道"), + U_TURN_LANE(120, "掉头车道"), + U_TURN_LEFT_COMBINED_LANE(121, "掉头和左转合用车道"), + DIRECTIONAL_LANES(122, "分向行驶车道"), + BUS_LANE(123, "公交线路专用车道/公交专用车道"), + MOTOR_VEHICLE_LANE(124, "机动车行驶"), + MOTOR_VEHICLE_ONLY(125, "机动车车道"), + NON_MOTOR_VEHICLE_LANE(126, "非机动车行驶"), + NON_MOTOR_VEHICLE_ONLY(127, "非机动车车道"), + BRT_LANE(128, "快速公交系统专用车道/快速公交系统（BRT）专用车道"), + HOV_LANE(129, "多乘员车辆专用车道/多乘员车辆（HOV）专用车道"), + PARKING_SPACE(130, "停车位"), + U_TURN_PERMITTED(131, "允许掉头"), + FOUR_LANE_INTERSECTION_ADVANCE(132, "四车道及以上公路交叉路口预告"), + HIGH_TRAFFIC_INTERSECTION_ADVANCE(133, "大交通量的四车道以上公路交叉路口预告"), + ROAD_NUMBER_INTERSECTION_ADVANCE(134, "箭头杆上标识公路编号、道路名称的公路交叉路口预告"), + CROSS_INTERSECTION(135, "十字交叉路口"), + T_INTERSECTION(136, "丁字交叉路口"), + Y_INTERSECTION(137, "Y型交叉路口"), + ROUNDABOUT_SIGN(138, "环形交叉路口"), + INTERCHANGE(139, "互通式立体交叉"), + FORK(140, "分岔处"), + NATIONAL_ROAD_NUMBER(141, "国道编号"), + PROVINCIAL_ROAD_NUMBER(142, "省道编号"), + COUNTY_ROAD_NUMBER(143, "县道编号"), + TOWNSHIP_ROAD_NUMBER(144, "乡道编号"), + STREET_NAME(145, "街道名称/路名"), + ROAD_NAME_SIGN(146, "路名牌"), + DISTANCE_TO_LOCATION(147, "地点距离"), + PLACE_NAME(148, "地名"), + FAMOUS_PLACE(149, "著名地点"), + ADMINISTRATIVE_BOUNDARY(150, "行政区划分界"), + ROAD_MANAGEMENT_BOUNDARY(151, "道路管理分界"), + PLACE_IDENTIFICATION(152, "地点识别"), + PARKING_AREA(153, "停车场/停车场（区）"), + PASSING_PLACE(154, "错车道"), + PEDESTRIAN_OVERPASS(155, "人行天桥"), + PEDESTRIAN_UNDERPASS(156, "人行地下通道"), + ACCESSIBLE_FACILITIES(157, "残疾人专用设施/无障碍设施"), + VIEWING_PLATFORM(158, "观景台"), + EMERGENCY_SHELTER(159, "应急避难设施（场所）"), + REST_AREA(160, "休息区"), + DETOUR(161, "绕行"), + ROAD_CLOSED(162, "此路不通"), + LANES_DECREASING(163, "车道数变少"), + LANES_INCREASING(164, "车道数增加"), + TRAFFIC_MONITORING(165, "交通监控设备"), + TUNNEL_EXIT_DISTANCE(166, "隧道出口距离预告/隧道出口距离"), + BASIC_UNIT(167, "基本单元"), + COMBINED_USE(168, "组合使用"), + BOTH_SIDES_PASSAGE(169, "两侧通行"), + RIGHT_SIDE_PASSAGE(170, "右侧通行"), + LEFT_SIDE_PASSAGE(171, "左侧通行"), + ENTRANCE_ADVANCE(172, "入口预告"), + DIRECTION_AND_PLACE(173, "地点、方向"), + ROUTE_NUMBER(174, "编号"), + NAMED_NUMBER(175, "命名编号"), + ROAD_NAME_SIGNAGE(176, "路名"), + DISTANCE_INFORMATION(177, "地点距离"), + MULTIPLE_EXITS_DISTANCE(178, "城市区域多个出口时的地点距离/城市区域多个出口时地点距离"), + NEXT_EXIT_ADVANCE(179, "下一出口预告"), + EXIT_NUMBER(180, "出口编号"), + RIGHT_EXIT_ADVANCE(181, "右侧出口预告"), + LEFT_EXIT_ADVANCE(182, "左侧出口预告"), + EXIT_SIGN(183, "出口标志及出口地点方向"), + HIGHWAY_START(184, "高速公路起点"), + END_ADVANCE(185, "终点预告"), + END_NOTICE(186, "终点提示"), + EXPRESSWAY_END(187, "国家高速公路、省级高速公路终点"), + TRAFFIC_INFORMATION(188, "道路交通信息"), + MILESTONE(189, "里程牌"), + HUNDRED_METER_SIGN(190, "百米牌"), + STOP_FOR_CARD(191, "停车领卡"), + CAR_DISTANCE_CONFIRM(192, "车距确认"), + SPECIAL_WEATHER_SPEED(193, "特殊天气建议速度"), + EMERGENCY_TELEPHONE(194, "紧急电话"), + PHONE_LOCATION(195, "电话位置指示"), + RESCUE_TELEPHONE(196, "救援电话"), + NO_ETC_TOLL_STATION(197, "不设电子不停车收费（ETC）车道的收费站预告及收费站"), + ETC_TOLL_STATION(198, "设有电子不停车收费（ETC）车道的收费站预告及收费站"), + ETC_LANE_GUIDE(199, "ETC车道指示/电子不停车收费（ETC）车道指引"), + WEIGH_IN_MOTION(200, "计重收费"), + GAS_STATION(201, "加油站"), + EMERGENCY_STOP_AREA(202, "紧急停车带/港湾式紧急停车带"), + SERVICE_AREA_ADVANCE(203, "服务区预告"), + PARKING_AREA_ADVANCE(204, "停车区预告"), + PARKING_LOT_ADVANCE(205, "停车场预告"), + HIGHWAY_PARKING(206, "停车场"), + CLIMBING_LANE(207, "爬坡车道"), + OVERWEIGHT_INSPECTION(208, "超限超载检测站/超限检测站"), + DIRECTION_IN_SIGN(209, "设置在指路标志版面中的方向"), + DIRECTION_OUT_SIGN(210, "设置在指路标志版面外的方向"), + TOURIST_AREA_DISTANCE(211, "旅游区距离"), + TOURIST_AREA_DIRECTION(212, "旅游区方向"), + INFORMATION_CENTER(213, "问讯处/信息服务"), + HIKING(214, "徒步"), + CABLE_CAR(215, "索道"), + CAMPGROUND(216, "野营地"), + CAMPFIRE(217, "营火"), + PLAYGROUND(218, "游戏场"), + HORSEBACK_RIDING(219, "骑马"), + FISHING(220, "钓鱼"), + GOLF(221, "高尔夫球"), + DIVING(222, "潜水"), + SWIMMING(223, "游泳"), + BOATING(224, "划船"), + WINTER_TOURIST_AREA(225, "冬季游览区"), + SKIING(226, "滑雪"), + SKATING(227, "滑冰"), + TIME_RANGE(228, "时间范围"), + EXCEPT_BUS(229, "除公共汽车外/公交车除外"), + MOTOR_VEHICLES_ONLY(230, "机动车"), + TRUCKS_ONLY(231, "货车"), + TRUCKS_AND_TRACTORS(232, "货车、拖拉机"), + PRIVATE_EXCLUSIVE(233, "私人专属"), + DIRECTION_SIGN(234, "行驶方向标志/行驶方向"), + AHEAD_200M(235, "向前200m"), + LEFT_100M(236, "向左100m"), + LEFT_RIGHT_50M(237, "向左、向右各50m"), + RIGHT_100M(238, "向右100m"), + WITHIN_AREA(239, "某区域内"), + DISTANCE_200M(240, "距离某地200m"), + LENGTH(241, "长度"), + SCHOOL(242, "学校"), + CUSTOMS_CHECK(243, "海关"), + ACCIDENT_AREA(244, "事故"), + LANDSLIDE(245, "塌方"), + INSTRUCTOR_CAR_ROUTE(246, "教练车行驶路线"), + DRIVING_TEST_ROUTE(247, "驾驶考试路线"), + SCHOOL_BUS_STOP(248, "校车停靠站点"), + COMBO_ASSIST_SIGN(249, "组合辅助/组合辅助标志"), + NO_E_BIKE_ENTRY(250, "禁止电动自行车进入"), + TURN_ON_LIGHTS(251, "开车灯"), + CAR_LANE(252, "小型客车车道"), + TRAM_LANE(253, "有轨电车专用车道"), + E_BIKE_RIDING(254, "电动自行车行驶"), + E_BIKE_LANE(255, "电动自行车车道"), + SEPARATED_NON_MOTOR_PEDESTRIAN(256, "非机动车与行人分开空间通行"), + SHARED_NON_MOTOR_PEDESTRIAN(257, "非机动车与行人共享空间通行"), + NON_MOTOR_PUSH(258, "非机动车推行"), + KEEP_RIGHT_LANE(259, "靠右侧车道行驶"), + HARD_SHOULDER_PERMITTED(260, "硬路肩允许行驶"), + TRUCKS_PERMITTED(261, "货车通行"), + CAUTION_E_BIKE(262, "注意电动自行车"), + TRAFFIC_ACCIDENT_MANAGEMENT(263, "交通事故管理"), + CAUTION_LANES_DECREASING(264, "注意车道数变少"), + INTERSECTION_DIAGRAM(265, "交叉路口图形式"), + ROUNDABOUT_DIAGRAM(266, "环岛图形式"), + STACKED_TYPE(267, "堆叠式"), + LANE_TYPE(268, "车道式"), + ROAD_NAME_DIRECTION(269, "道路名称方向"), + SERVICE_STATION(270, "服务站"), + STOP_POINT(271, "停车点"), + DIRECTIONAL_SIGN(272, "方向标志"), + ENTRANCE_TWO_DIRECTIONS(273, "入口预告（进入后2个方向）"), + ENTRANCE_ONE_DIRECTION(274, "入口预告（进入后1个方向）"), + UNNAMED_HWY_ENTRANCE(275, "无编号高速公路或城市快速路入口预告"), + CONCURRENT_HWY_ENTRANCE(276, "两条高速公路路段重合的入口预告"), + PLACE_DIRECTION(277, "地点、方向"), + PLACE_DIRECTION_WITH_NUMBER(278, "带编号信息的地点、方向"), + PLACE_DIRECTION_FULL(279, "带编号、方向信息的地点、方向"), + PLACE_DISTANCE_INFO(280, "地点距离"), + FORWARD_DISTANCE_GUIDE(281, "同时指引前方到达道路上的地点距离"), + NORMAL_INTERCHANGE_EXIT_NUMBED(282, "一般互通式立体交叉出口后道路有编号的出口预告"), + NORMAL_EXIT_DIRECTION_NUMBED(283, "一般互通式立体交叉出口后道路有编号的出口方向"), + NORMAL_INTERCHANGE_EXIT_UNNUMBED(284, "一般互通式立体交叉出口后道路无编号的出口预告"), + NORMAL_EXIT_DIRECTION_UNNUMBED(285, "一般互通式立体交叉出口后道路无编号的出口方向"), + HUB_INTERCHANGE_EXIT_ADVANCE(286, "枢纽互通式立体交叉的出口预告"), + HUB_EXIT_DIRECTION(287, "枢纽互通式立体交叉出口方向"), + STRAIGHT_EXIT_DIRECTION(288, "直出车道出口方向"), + ROAD_FORK_ADVANCE(289, "道路分岔预告"), + TWO_EXIT_HUB_EXIT_ADVANCE(290, "双出口枢纽式互通立体交叉的出口预告"), + TWO_LANE_HUB_EXIT_DIRECTION(291, "出口匝道为2条车道枢纽式互通立体交叉的出口方向"), + EXIT_300_200_100M(292, "300m、200m、100m出口预告"), + EXIT_SIGNAGE(293, "出口"), + UNNAMED_HWY_START(294, "无编号的高速公路或城市快速路起点"), + UNNAMED_HWY_END_ADVANCE(295, "无编号的高速公路或城市快速路终点预告"), + UNNAMED_HWY_END(296, "无编号的高速公路或城市快速路终点"), + MILESTONE_SIGN(297, "里程牌"), + UNNAMED_HWY_MILESTONE(298, "无编号的高速公路或城市快速路里程牌"), + ETC_LANE(299, "电子不停车收费（ETC）车道"), + MANUAL_Toll_LANE(300, "人工收费车道"), + GREEN_CHANNEL(301, "绿色通道"), + RV_CAMP(302, "旅居车营地"), + LEFT_RIGHT_DIRECTION(303, "向左、向右"), + + ; + public final int type; + + /** + * 描述 + */ + public final String desc; + private int unknownRealType;//当异常时真实的type + public static final RsiSignType[] ALL = values(); + + RsiSignType(int type, String desc) { + this.type = type; + this.desc = desc; + } + + public int getUnknownRealType() { + return unknownRealType; + } + + public static RsiSignType getType(int type) { + for (RsiSignType tem : ALL) { + if (type == tem.type) { + return tem; + } + } + UNKNOWN.unknownRealType = type; + return UNKNOWN; + } + + + @NonNull + @Override + public String toString() { + if (type == -1) { + return desc + "(" + unknownRealType + ")"; + } else { + return desc + "(" + type + ")"; + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/component/Position.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/component/Position.java new file mode 100644 index 0000000000..bb0d758204 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/component/Position.java @@ -0,0 +1,50 @@ +package com.zhjt.mogo.adas.data.bean.cloud.component; + +/** + * 位置 + */ +public final class Position { + /** + * 经度，单位：°，表示-180.0000000°～180.0000000°，大于0 表示东经，不可缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double longitude; + /** + * 纬度，单位：°，表示-90.0000000°～90.0000000°，大于 0 表示北纬，不可缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double latitude; + + /** + * 海拔高度，单位：m，表示-500.0 m～6500.0 m，0xFFFFFFFF表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double elevation; + + public Position(int longitude, int latitude, int elevation) { + if (longitude == -1) { + this.longitude = Double.MIN_VALUE; + } else { + this.longitude = (longitude / 10000000.0D) - 180.0; + } + if (latitude == -1) { + this.latitude = Double.MIN_VALUE; + } else { + this.latitude = (latitude / 10000000.0D) - 90.0; + } + if (elevation == -1) { + this.elevation = Double.MIN_VALUE; + } else { + this.elevation = (elevation - 5000.0) / 10.0D; + } + } + + @Override + public String toString() { + return "{" + + "经度=" + longitude + + "°, 纬度=" + latitude + + "°, 高程=" + elevation + + "m}"; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/component/SpeedLimit.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/component/SpeedLimit.java new file mode 100644 index 0000000000..0c66169db0 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/component/SpeedLimit.java @@ -0,0 +1,30 @@ +package com.zhjt.mogo.adas.data.bean.cloud.component; + +/** + * 限速信息 + */ +public final class SpeedLimit { + /** + * 车道编号 + * [0..255]，0表示车道编号无效；以该车道行驶方向为参考，自左向右从1 开始编号 + */ + public final int laneId; + /** + * 限速值 + * [0...255]，速度限制值，单位：km/h，0 表示未知限速 + */ + public final int speedLimit; + + public SpeedLimit(int laneId, int speedLimit) { + this.laneId = laneId; + this.speedLimit = speedLimit; + } + + @Override + public String toString() { + return "{" + + "车道编号=" + laneId + + ", 限速值=" + speedLimit + + "km/h}"; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceAvwInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceAvwInfo.java new file mode 100644 index 0000000000..7a35a44bb3 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceAvwInfo.java @@ -0,0 +1,140 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info; + +import com.zhjt.mogo.adas.data.bean.cloud.component.Position; + +import java.util.Arrays; + +/** + * 8.5.11 异常车辆预警指令 + */ +public final class AdviceAvwInfo { + /** + * 事件唯一标识 + * 一组固定长度为 36 个字节的字符串，UTF-8 编码，标识命令唯一编号；同一影响目标交通参与物同一 uuid + * null 表示解析失败/异常 + */ + public final String uuid; + + /** + * 事件生成时间戳 + * 事件生成的时间戳，UTC 时间（东八区），单位：ms，不可缺省 + * {@link Long#MIN_VALUE}或-1 表示解析失败/异常 + */ + public final long timestamp; + + /** + * 告警类型 + * 用于匹配 RSI，取值为 6503，6505，6506，6507，6508 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int alertType; + + /** + * 告警半径 + * [0..102.4]，单位：m，6553.5表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double alertRadius; + + /** + * 路径点数量 + * [0..31]，告警路径中路径点数量，取值为 0 时，不发送告警路径 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int pointNum; + + /** + * 告警路径 + * N 个路径点，其中 N 为路径点数量。如果传递一个点则生成RSI 时改为两个一样的点，如果未传递，则生成 RSI 时填入两个默认零点[0,0,0]，POSITION 数据结构应符合表 2 的要求 + * (pointNum == {@link Integer#MIN_VALUE} && alertPath == null) 表示解析失败/异常 + */ + public final Position[] alertPath; + + /** + * 车速 + * [0..200.00]，异常车辆的行驶速度，单位：m/s，655.35表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double velocity; + + /** + * 航向角 + * [0..360.0000]，异常车辆的航向角，为正北方向顺时针旋转至与车辆当前运动方向重合所转过的角度，单位：°，-1表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double heading; + + /** + * 事件状态 ---提醒指令的事件状态 + * [0..1] 0: 生成事件信息；1： 取消事件信息 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int status; + + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + /** + * 异常车辆所在车道, 异常车辆所在车道编号 0-255 0： 无效； 1：最内侧车道，向外依次递增 ； 255： 缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int rsiLaneId; + + /** + * 当前车道road序号 车道编号 0：无效, 0xFFFFFFFF 缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int roadId; + /** + * 距离 + * 单位：m，65535表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double distance; + /** + * 异常车辆目标物体uuid + * null 表示解析失败/异常 + */ + public final String objectId; + + public AdviceAvwInfo(String uuid, long timestamp, int alertType, double alertRadius, int pointNum, Position[] alertPath, double velocity, double heading, int status, int valid, int rsiLaneId, int roadId, double distance, String objectId) { + this.uuid = uuid; + this.timestamp = timestamp; + this.alertType = alertType; + this.alertRadius = alertRadius; + this.pointNum = pointNum; + this.alertPath = alertPath; + this.velocity = velocity; + this.heading = heading; + this.status = status; + this.valid = valid; + this.rsiLaneId = rsiLaneId; + this.roadId = roadId; + this.distance = distance; + this.objectId = objectId; + } + + @Override + public String toString() { + return "异常车辆预警指令{" + + "事件唯一标识=" + uuid + + ", 事件生成时间戳=" + timestamp + + ", 告警类型=" + alertType + + ", 告警半径=" + alertRadius + + "m, 路径点数量=" + pointNum + + ", 告警路径=" + Arrays.toString(alertPath) + + ", 车速=" + velocity + + "m/s, 航向角=" + heading + + "°, 提醒指令事件状态=" + status + + ", 决策建议消息的生成与消散=" + valid + + ", 异常车辆所在车道=" + rsiLaneId + + ", 当前车道road序号=" + roadId + + ", 距离=" + distance + + "m, 异常车辆目标物体UUID=" + objectId + + '}'; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceComRsiInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceComRsiInfo.java new file mode 100644 index 0000000000..070527c6cc --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceComRsiInfo.java @@ -0,0 +1,318 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info; + +import com.zhjt.mogo.adas.common.cloud.AdviceComRsiEventSource; +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.common.cloud.RsiEventType; +import com.zhjt.mogo.adas.common.cloud.RsiSignType; +import com.zhjt.mogo.adas.data.bean.cloud.component.Position; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiAbandonInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiLaneProposalInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiLightWarningInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiOtherCarBreakReadWarningInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiOverSightDistanceInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiRoadDangerHintInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiTrafficJamInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiVisibilityInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; + +import java.util.Arrays; + +/** + * 通用RSI预警指令 + */ +public final class AdviceComRsiInfo { + /** + * 交通事件和交通标志信息数量 + * 道路交通事件信息的数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int rsisNum; + + /** + * 交交通事件和交通标志信息 + * N 条道路交通事件和交通标志信息，道路交通事件和交通标志信息数据结构应符合表 43 的要求 + * (rsisNum == {@link Integer#MIN_VALUE} && rsis == null) 表示解析失败/异常 + */ + public final Rsi[] rsis; + + public AdviceComRsiInfo(int rsisNum, Rsi[] rsis) { + this.rsisNum = rsisNum; + this.rsis = rsis; + } + + @Override + public String toString() { + return "通用RSI预警指令{" + + "交通事件和交通标志信息数量=" + rsisNum + + ", 交交通事件和交通标志信息=" + Arrays.toString(rsis) + + '}'; + } + + + public final static class Rsi { + /** + * 事件唯一标识 + * 一组固定长度为 36 个字节的字符串，UTF-8 编码，标识命令唯一编号 + * null 表示解析失败/异常 + */ + public final String uuid; + + /** + * 事件生成时间戳 + * 事件生成的时间戳，UTC 时间（东八区），单位：ms，不可缺省，0xFFFFFFFFFFFFFFFF 表示异常 + * {@link Long#MIN_VALUE} 表示解析失败/异常 + */ + public final long timestamp; + + /** + * 交通事件位置点 + * 交通事件经纬度及高程信息，POSITION 数据结构应符合表2 的要求 + * null 表示解析失败/异常 + */ + public final Position eventPosition; + + /** + * 事件分类 + * 枚举类型：[0..3]，0：未知类型；1：交通事件类；2：道路交通标志；3：云端决策建议，不可缺省 + * {@link AdviceEventType#ERROR} 表示解析失败/异常 + */ + public final AdviceEventType adviceEventType; + + /** + * 道路交通事件信息类型 + * 当RSI描述的信息为RTS时，对应YD/T 3709中的signType，按照GB5768.2-2022要求，定义及取值见附录E表E.2； {@link RsiSignType} + * 当RSI描述的信息为RTE时，对应YD/T 3709中的eventType，按照GB/T29100要求，其中路侧识别事件定义见附录E表E.1 {@link RsiEventType} + *

+ * 需要根据{@link AdvicePojo#eventType} 进行解析 + * 如果 {@link AdvicePojo#eventType} == {@link AdviceEventType#TRAFFIC_SIGN} 则需要使用 {@link RsiSignType#getType(int)} 进行解析 + * 如果 {@link AdvicePojo#eventType} == {@link AdviceEventType#TRAFFIC_EVENT} 则需要使用 {@link RsiEventType#getType(int)} 进行解析 + * 如果 {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} 则需要使用 {@link RsiCloudDecisionEventType#getType(int)} 进行解析 + */ + public final int eventType; + + /** + * 事件来源 + * 枚举类型：[0..6]，0：未知来源；1：交管部门；2：其他政府部门；3：气象部门；4：互联网；5：路侧或云端感知；6：其他来源；255表示缺省 + * {@link AdviceComRsiEventSource#ERROR} 表示解析失败/异常 + */ + public final AdviceComRsiEventSource eventSource; + + /** + * 事件（影响）半径 + * [0..6553.4],单位：m，6553.5表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double eventRadius; + + /** + * 关联路段数量 + * [0..65535]，取值为 0 时，不发送关联路段信息 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int referenceLinksNum; + + /** + * 关联路段信息 + * N 个关联路段信息，其中 N 为关联路段数量，关联路段信息数据结构应符合表 44 的要求 + * (referenceLinksNum == {@link Integer#MIN_VALUE} && referenceLinks == null) 表示解析失败/异常 + */ + public final ReferenceLink[] referenceLinks; + + /** + * 优先级 + * [0..7]，从低到高表示优先级从低到高，默认为0，255表示缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int priority; + + /** + * 交通事件/标志作用中心线坐标点 + * null 表示解析失败/异常 + */ + public final Position alertPath; + + /** + * 交通标志/事件作用中心线范围半径 + * [0..102.4]，单位：m，6553.5表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double pathRadius; + + /** + * 事件状态 + * 枚举类型：[0..1]，0：生成事件消息；1：取消事件消息 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int status; + + /** + * 自定义内容长度 + * [0..65535]，描述自定义字段长度，取值为0 时不发送自定义字段内容 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int userDefinedDataLength; + + /** + * 自定义内容 + * 自定义数据字段，长度为 N 个字节，其中 N 为自定义字段长度 + * (userDefinedDataLength == {@link Integer#MIN_VALUE} && userDefinedData == null) 表示解析失败/异常 + */ + public final String userDefinedData; + + /** + * 闯红灯预警功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link Rsi#eventType} == {@link RsiCloudDecisionEventType#RED_LIGHT_RUNNING_WARNING} + * 使用 + */ + public final AdviceRsiLightWarningInfo adviceRsiLightWarningInfo; + + /** + * 道路危险状况提示服务功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link Rsi#eventType} == ({@link RsiCloudDecisionEventType#ROAD_HAZARD_ALERT_SERVICE_6021} || {@link RsiCloudDecisionEventType#ROAD_HAZARD_ALERT_SERVICE_6022}) + * 使用 + */ + public final AdviceRsiRoadDangerHintInfo adviceRsiRoadDangerHintInfo; + + /** + * 实时决策建议 rsi 行驶车道建议功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link Rsi#eventType} == ({@link RsiCloudDecisionEventType#DRIVING_LANE_SUGGESTION_6031} || {@link RsiCloudDecisionEventType#DRIVING_LANE_SUGGESTION_6032) + * 使用 + */ + public final AdviceRsiLaneProposalInfo adviceRsiLaneProposalInfo; + public final AdviceRsiOtherCarBreakReadWarningInfo adviceRsiOtherCarBreakReadWarningInfo; + public final AdviceRsiTrafficJamInfo adviceRsiTrafficJamInfo; + public final AdviceRsiOverSightDistanceInfo adviceRsiOverSightDistanceInfo; + public final AdviceRsiVisibilityInfo adviceRsiVisibilityInfo; + public final AdviceRsiAbandonInfo adviceRsiAbandonInfo; + + public Rsi(String uuid, long timestamp, Position eventPosition, AdviceEventType adviceEventType, int eventType, int eventSource, double eventRadius, int referenceLinksNum, ReferenceLink[] referenceLinks, int priority, Position alertPath, double pathRadius, int status, int userDefinedDataLength, String userDefinedData, AdviceRsiLightWarningInfo adviceRsiLightWarningInfo, AdviceRsiRoadDangerHintInfo adviceRsiRoadDangerHintInfo, AdviceRsiLaneProposalInfo adviceRsiLaneProposalInfo, AdviceRsiOtherCarBreakReadWarningInfo adviceRsiOtherCarBreakReadWarningInfo, AdviceRsiTrafficJamInfo adviceRsiTrafficJamInfo, AdviceRsiOverSightDistanceInfo adviceRsiOverSightDistanceInfo, AdviceRsiVisibilityInfo adviceRsiVisibilityInfo, AdviceRsiAbandonInfo adviceRsiAbandonInfo) { + this.uuid = uuid; + this.timestamp = timestamp; + this.eventPosition = eventPosition; + this.adviceEventType = adviceEventType; + this.eventType = eventType; + this.eventSource = AdviceComRsiEventSource.getType(eventSource); + this.eventRadius = eventRadius; + this.referenceLinksNum = referenceLinksNum; + this.referenceLinks = referenceLinks; + this.priority = priority; + this.alertPath = alertPath; + this.pathRadius = pathRadius; + this.status = status; + this.userDefinedDataLength = userDefinedDataLength; + this.userDefinedData = userDefinedData; + this.adviceRsiLightWarningInfo = adviceRsiLightWarningInfo; + this.adviceRsiRoadDangerHintInfo = adviceRsiRoadDangerHintInfo; + this.adviceRsiLaneProposalInfo = adviceRsiLaneProposalInfo; + this.adviceRsiOtherCarBreakReadWarningInfo = adviceRsiOtherCarBreakReadWarningInfo; + this.adviceRsiTrafficJamInfo = adviceRsiTrafficJamInfo; + this.adviceRsiOverSightDistanceInfo = adviceRsiOverSightDistanceInfo; + this.adviceRsiVisibilityInfo = adviceRsiVisibilityInfo; + this.adviceRsiAbandonInfo = adviceRsiAbandonInfo; + } + + @Override + public String toString() { + String eventTypeTemp = ""; + String userDefinedDataTemp = userDefinedData; + if (adviceEventType == AdviceEventType.TRAFFIC_SIGN) { + eventTypeTemp += RsiSignType.getType(eventType); + } else if (adviceEventType == AdviceEventType.TRAFFIC_EVENT) { + eventTypeTemp += RsiEventType.getType(eventType); + } else if (adviceEventType == AdviceEventType.CLOUD_DECISION) { + RsiCloudDecisionEventType type = RsiCloudDecisionEventType.getType(eventType); + eventTypeTemp += type; + if (type == RsiCloudDecisionEventType.RED_LIGHT_RUNNING_WARNING) { + userDefinedDataTemp = adviceRsiLightWarningInfo + ""; + } else if (type == RsiCloudDecisionEventType.ROAD_HAZARD_ALERT_SERVICE_6021 || type == RsiCloudDecisionEventType.ROAD_HAZARD_ALERT_SERVICE_6022) { + userDefinedDataTemp = adviceRsiRoadDangerHintInfo + ""; + } else if (type == RsiCloudDecisionEventType.DRIVING_LANE_SUGGESTION_6031 || type == RsiCloudDecisionEventType.DRIVING_LANE_SUGGESTION_6032) { + userDefinedDataTemp = adviceRsiLaneProposalInfo + ""; + } else if (type == RsiCloudDecisionEventType.INTERSECTION_RED_LIGHT_WARNING) { + userDefinedDataTemp = adviceRsiOtherCarBreakReadWarningInfo + ""; + } else if (type == RsiCloudDecisionEventType.TRAFFIC_CONGESTION_ALERT) { + userDefinedDataTemp = adviceRsiTrafficJamInfo + ""; + } else if (type == RsiCloudDecisionEventType.OVER_THE_HORIZON_VULNERABLE_ROAD_USER_WARNING) { + userDefinedDataTemp = adviceRsiOverSightDistanceInfo + ""; + } else if (type == RsiCloudDecisionEventType.VISIBILITY_WARNING) { + userDefinedDataTemp = adviceRsiVisibilityInfo + ""; + } else if (type == RsiCloudDecisionEventType.ROAD_DEBRIS_WARNING) { + userDefinedDataTemp = adviceRsiAbandonInfo + ""; + } + } else { + eventTypeTemp = "AdviceEventType 异常，eventType 原始数据=" + eventType; + } + return "事件唯一标识=" + uuid + + ", 事件生成时间戳=" + timestamp + + ", 交通事件位置点=" + eventPosition + + ", 道路交通事件信息类型=" + eventTypeTemp + + ", 事件来源=" + eventSource + + ", 事件（影响）半径=" + eventRadius + + "m, 关联路段数量=" + referenceLinksNum + + ", 关联路段信息=" + Arrays.toString(referenceLinks) + + ", 优先级=" + priority + + ", 交通事件/标志作用中心线坐标点=" + alertPath + + ", 交通标志/事件作用中心线范围半径=" + pathRadius + + ", 事件状态=" + status + + ", 自定义内容长度=" + userDefinedDataLength + + ", 自定义内容=" + userDefinedDataTemp + + '}'; + } + + public final static class ReferenceLink { + /** + * 上游节点编号 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int upstreamNodeId; + + /** + * 下游节点编号 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int downstreamNodeId; + + /** + * 受影响车道数量 + * [0..16] + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int referenceLanesNum; + + /** + * 受影响车道 + * N 个受影响车道，其中 N 为受影响车道数量，单个车道取值范围[0..15]，其中，0：保留位，1-15 分别表示车道1-车道15 + * (referenceLanesNum == {@link Integer#MIN_VALUE} && referenceLanes == null) 表示解析失败/异常 + */ + public final int[] referenceLanes; + + public ReferenceLink(int upstreamNodeId, int downstreamNodeId, int referenceLanesNum, int[] referenceLanes) { + this.upstreamNodeId = upstreamNodeId; + this.downstreamNodeId = downstreamNodeId; + this.referenceLanesNum = referenceLanesNum; + this.referenceLanes = referenceLanes; + } + + @Override + public String toString() { + return "{" + + "上游节点编号=" + upstreamNodeId + + ", 下游节点编号=" + downstreamNodeId + + ", 受影响车道数量=" + referenceLanesNum + + ", 受影响车道=" + Arrays.toString(referenceLanes) + + '}'; + } + } + } + +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceEvwInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceEvwInfo.java new file mode 100644 index 0000000000..d09a1f99b2 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceEvwInfo.java @@ -0,0 +1,119 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info; + +import com.zhjt.mogo.adas.common.cloud.AdviceEvwType; +import com.zhjt.mogo.adas.data.bean.cloud.component.Position; + +import java.util.Arrays; + +/** + * 实时决策建议 紧急车辆预警指令 + */ +public final class AdviceEvwInfo { + /** + * 事件唯一标识 + * 一组固定长度为 36 个字节的字符串，UTF-8 编码，标识命令唯一编号；同一影响目标交通参与物同一 uuid + * null 表示解析失败/异常 + */ + public final String uuid; + + /** + * 事件生成时间戳 + * 事件生成的时间戳，UTC 时间（东八区），单位：ms，不可缺省 + * {@link Long#MIN_VALUE}或-1 表示解析失败/异常 + */ + public final long timestamp; + + /** + * 告警类型 + * 固定值为 6511，用于匹配 RSI + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int alertType; + + /** + * 告警半径 + * [0..102.4]，单位：m，6553.5表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double alertRadius; + + /** + * 路径点数量 + * [0..31]，告警路径中路径点数量，取值为0 时，不发送告警路径 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int pointNum; + + /** + * 告警路径 + * N 个路径点，其中 N 为路径点数量。如果传递一个点则生成RSI 时改为两个一样的点，如果未传递，则生成 RSI 时填入两个默认零点[0,0,0]，POSITION 数据结构应符合表 2 的要求 + * (pointNum == {@link Integer#MIN_VALUE} && alertPath == null) 表示解析失败/异常 + */ + public final Position[] alertPath; + + /** + * 车辆类型 + * 枚举类型：[0..10]，0：失效；1：救护车；2：警车；3：消防车；4-10：预留；255表示缺省 + * {@link AdviceEvwType#ERROR} 表示解析失败/异常 + */ + public final AdviceEvwType type; + + /** + * 车速 + * [0..200.00]，紧急车辆的行驶速度，单位：m/s，655.35表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double velocity; + + /** + * 航向角 + * [0..360.0000]，紧急车辆的航向角，为正北方向顺时针旋转至与车辆当前运动方向重合所转过的角度，单位：°，-1表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double heading; + + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + /** + * 紧急车辆位置 + * null 表示解析失败/异常 + */ + public final Position position; + + + public AdviceEvwInfo(String uuid, long timestamp, int alertType, double alertRadius, int pointNum, Position[] alertPath, int type, double velocity, double heading, int valid, Position position) { + this.uuid = uuid; + this.timestamp = timestamp; + this.alertType = alertType; + this.alertRadius = alertRadius; + this.pointNum = pointNum; + this.alertPath = alertPath; + this.type = AdviceEvwType.getType(type); + this.velocity = velocity; + this.heading = heading; + this.valid = valid; + this.position = position; + } + + @Override + public String toString() { + return "紧急车辆预警指令{" + + "事件唯一标识=" + uuid + + ", 事件生成时间戳=" + timestamp + + ", 告警类型=" + alertType + + ", 告警半径=" + alertRadius + + "m, 路径点数量=" + pointNum + + ", 告警路径=" + Arrays.toString(alertPath) + + ", 车辆类型=" + type + + ", 车速=" + velocity + + "m/s, 航向角=" + heading + + "°, 决策建议消息的生成与消散=" + valid + + ", 紧急车辆位置=" + position + + '}'; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceGlosaInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceGlosaInfo.java new file mode 100644 index 0000000000..7ebb4c5792 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceGlosaInfo.java @@ -0,0 +1,147 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info; + +import com.zhjt.mogo.adas.common.cloud.AdviceGlosaSpdExpManeuver; +import com.zhjt.mogo.adas.common.cloud.AdviceGlosaType; + +import java.util.Arrays; + +/** + * 信号灯路口车速引导功能指令 + */ +public final class AdviceGlosaInfo { + /** + * 事件唯一标识 + * 一组固定长度为 36 个字节的字符串，UTF-8 编码，标识命令唯一编号 + * null 表示解析失败/异常 + */ + public final String uuid; + + /** + * 事件生成时间戳 + * 事件生成的时间戳，UTC 时间（东八区），单位：ms，不可缺省，0xFFFFFFFFFFFFFFFF 表示异常 + * {@link Long#MIN_VALUE}或-1 表示解析失败/异常 + */ + public final long timestamp; + + /** + * 告警类型 + * 固定值为 6523，用于匹配 RSI + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int alertType; + + /** + * 有效标识 + * 枚举类型：[0..1]，0：失效；1：有效 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + /** + * 命令标识 + * 枚举类型：[0..3]，0：失效；1：引导；2：停车指令；3：启动指令 + * {@link AdviceGlosaType#ERROR} 表示解析失败/异常 + */ + public final AdviceGlosaType type; + /** + * 车辆所在位置到停止线距离 + * [0..655.34]，单位：m，655.35表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double d2StopLine; + + /** + * 车道方向建议速度组数 + * [0..255]，0 表示无效，不发送车道方向建议车速数据，其他值均表示有效的车道方向建议速度组数 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int spdExpNum; + + /** + * 车道方向建议速度 + * N 组车道方向建议车速信息，车道方向建议车速信息数据结构应符合表 26 的要求 + * (spdExpNum == {@link Integer#MIN_VALUE} && spdExps == null) 表示解析失败/异常 + */ + public final SpdExp[] spdExps; + + + public AdviceGlosaInfo(String uuid, long timestamp, int alertType, int valid, int type, double d2StopLine, int spdExpNum, SpdExp[] spdExps) { + this.uuid = uuid; + this.timestamp = timestamp; + this.alertType = alertType; + this.valid = valid; + this.type = AdviceGlosaType.getType(type); + this.d2StopLine = d2StopLine; + this.spdExpNum = spdExpNum; + this.spdExps = spdExps; + } + + + @Override + public String toString() { + return "信号灯路口车速引导功能指令{" + + "事件唯一标识=" + uuid + + ", 事件生成时间戳=" + timestamp + + ", 告警类型=" + alertType + + ", 有效标识=" + valid + + ", 命令标识=" + type + + ", 车辆所在位置到停止线距离=" + d2StopLine + + "m, 车道方向建议速度组数=" + spdExpNum + + ", 车道方向建议速度=" + Arrays.toString(spdExps) + + '}'; + } + + /** + * 车道方向建议速度 + */ + public final static class SpdExp { + /** + * 车速上限 + * [0..200.00]，单位：m/s，655.35表示缺省 + */ + public final double spdMax; + + /** + * 车速下限 + * [0..200.00]，单位：m/s，655.35表示缺省 + */ + public final double spdMin; + + /** + * 建议车速 + * [0..200.00]，单位：m/s，655.35表示缺省 + */ + public final double spdExp; + + /** + * 通行行为 + * 枚举类型：[0..4]，车辆下个路口的通行行为，0：直行；1：左转；3：右转；4：掉头；255表示缺省 + */ + public final AdviceGlosaSpdExpManeuver maneuver; + + /** + * 绿灯通过前方路口数量 + * [0..254]，车辆绿灯通过前方路口数量，其中0 表示无法绿灯通过前方路口，255表示缺省 + */ + public final int numIntersection; + + public SpdExp(double spdMax, double spdMin, double spdExp, int maneuver, int numIntersection) { + this.spdMax = spdMax; + this.spdMin = spdMin; + this.spdExp = spdExp; + this.maneuver = AdviceGlosaSpdExpManeuver.getType(maneuver); + this.numIntersection = numIntersection; + } + + @Override + public String toString() { + return "{" + + "车速上限=" + spdMax + + "m/s, 车速下限=" + spdMin + + "m/s, 建议车速=" + spdExp + + "m/s, 通行行为=" + maneuver + + ", 绿灯通过前方路口数量=" + numIntersection + + '}'; + } + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceLaneSpdLmtInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceLaneSpdLmtInfo.java new file mode 100644 index 0000000000..2cee680df5 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AdviceLaneSpdLmtInfo.java @@ -0,0 +1,101 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info; + +import com.zhjt.mogo.adas.data.bean.cloud.component.Position; +import com.zhjt.mogo.adas.data.bean.cloud.component.SpeedLimit; + +import java.util.Arrays; + +/** + * 实时决策建议 动态车道级限速指令 + */ +public final class AdviceLaneSpdLmtInfo { + /** + * 事件唯一标识 + * 一组固定长度为 36 个字节的字符串，UTF-8 编码，标识命令唯一编号 + * null 表示解析失败/异常 + */ + public final String uuid; + + /** + * 事件生成时间戳 + * 事件生成的时间戳，UTC 时间（东八区），单位：ms，不可缺省，0xFFFFFFFFFFFFFFFF 表示异常 + * {@link Long#MIN_VALUE}或-1 表示解析失败/异常 + */ + public final long timestamp; + + /** + * 告警类型 + * 固定值为 6517，用于匹配 RSI + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int alertType; + + /** + * 告警半径 + * [0..102.4]，单位：m，6553.5表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double alertRadius; + + /** + * 路径点数量 + * [0..31]，告警路径中路径点数量，取值为0 时，不发送告警路径 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int pointNum; + + /** + * 告警路径 + * N 个路径点，其中 N 为路径点数量。如果传递一个点则生成RSI 时改为两个一样的点，如果未传递，则生成 RSI 时填入两个默认零点[0,0,0]，POSITION 数据结构应符合表 2 的要求 + * (pointNum == {@link Integer#MIN_VALUE} && alertPath == null) 表示解析失败/异常 + */ + public final Position[] alertPath; + + + /** + * 车道数量 + * 当前道路上包含的车道数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int laneNum; + + /** + * 限速数据 + * N 个限速信息，其中 N 为车道数量，SPEEDLIMIT 数据结构应符合表2 的要求 + * (laneNum == {@link Integer#MIN_VALUE} && speedLmt == null) 表示解析失败/异常 + */ + public final SpeedLimit[] speedLmt; + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + public AdviceLaneSpdLmtInfo(String uuid, long timestamp, int alertType, double alertRadius, int pointNum, Position[] alertPath, int laneNum, SpeedLimit[] speedLmt, int valid) { + this.uuid = uuid; + this.timestamp = timestamp; + this.alertType = alertType; + this.alertRadius = alertRadius; + this.pointNum = pointNum; + this.alertPath = alertPath; + this.laneNum = laneNum; + this.speedLmt = speedLmt; + this.valid = valid; + } + + @Override + public String toString() { + return "动态车道级限速指令{" + + "事件唯一标识=" + uuid + + ", 事件生成时间戳=" + timestamp + + ", 告警类型=" + alertType + + ", 告警半径=" + alertRadius + + "m, 路径点数量=" + pointNum + + ", 告警路径=" + Arrays.toString(alertPath) + + ", 车道数量=" + laneNum + + ", 限速数据=" + Arrays.toString(speedLmt) + + ", 决策建议消息的生成与消散=" + valid + + '}'; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AstFuncTlmInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AstFuncTlmInfo.java new file mode 100644 index 0000000000..2250439a07 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/AstFuncTlmInfo.java @@ -0,0 +1,157 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info; + +import com.zhjt.mogo.adas.common.cloud.AstFuncTlmControlMode; +import com.zhjt.mogo.adas.common.cloud.AstFuncTlmPhaseStateLightState; +import com.zhjt.mogo.adas.common.cloud.AstFuncTlmPhaseStateLightType; + +import java.util.Arrays; + +/** + * 云端下发信号灯信息 + */ +public final class AstFuncTlmInfo { + /** + * 红绿灯控制方式 + * 枚举类型：[1..254]，1：固定周期；2：手动控制；3：黄闪控制，4-254：预留；0xFF 表示缺省，填缺省值时数据无效 + * {@link AstFuncTlmControlMode#ERROR} 表示解析失败/异常 + */ + public final AstFuncTlmControlMode controlMode; + + /** + * 区域 ID + * [0..65535]，信号灯作用位置所在区域唯一编号,与路口ID 一起确定唯一路口 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int regionId; + + /** + * 路口 ID + * [0..65535]，信号灯作用位置在该区域内唯一编号,与区域ID 一起确定唯一路口 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int nodeId; + + /** + * 车辆所在车道对应信号灯相位数量 + * [0..253]，车辆所在车道对应前方第一个信号灯路口内所绑定支持的相位数量，255 表示无效，异常或无效时，不发送车辆所在车道对应信号灯相位 ID 列表字段 + * {@link Integer#MIN_VALUE}或254 表示解析失败/异常 + */ + public final int numOfLanePhase; + + /** + * 车辆所在车道对应信号灯相位 ID 列表 + * M 个车辆所在车道对应前方第一个信号灯路口内所有的相位ID（如：车道方向直行、左转、右转、掉头对应的相位ID），表示单个车道绑定的所有相位 ID，其中 M 为车辆所在车道对应信号灯相位数量 + * (numOfLanePhase == Integer#MIN_VALUE && lanePhaseIds == null) 表示解析失败/异常 + */ + public final int[] lanePhaseIds; + + /** + * 车辆到前方停止线距离 + * [0..655.34]，单位：m，655.35表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double d2StopLine; + + /** + * 相位数量 + * [0..255]，信号灯相位数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int phaseNumber; + + /** + * 信号灯相位状态 + * N 个信号灯等相位状态数据，其中 N 为相位数量，当云端可以获取车辆行驶路径时，可以只发送相应相位的红绿灯信息。信号灯相位状态数据接口应符合表 65 的要求 + * (phaseNumber == {@link Integer#MIN_VALUE} && phaseState == null) 表示解析失败/异常 + */ + public final PhaseState[] phaseState; + + public AstFuncTlmInfo(int controlMode, int regionId, int nodeId, int numOfLanePhase, int[] lanePhaseIds, double d2StopLine, int phaseNumber, PhaseState[] phaseState) { + this.controlMode = AstFuncTlmControlMode.getType(controlMode); + this.regionId = regionId; + this.nodeId = nodeId; + this.numOfLanePhase = numOfLanePhase; + this.lanePhaseIds = lanePhaseIds; + this.d2StopLine = d2StopLine; + this.phaseNumber = phaseNumber; + this.phaseState = phaseState; + } + + @Override + public String toString() { + return "云端下发信号灯信息{" + + "红绿灯控制方式=" + controlMode + + ", 区域 ID=" + regionId + + ", 路口 ID=" + nodeId + + ", 车辆所在车道对应信号灯相位数量=" + numOfLanePhase + + ", 车辆所在车道对应信号灯相位 ID 列表=" + Arrays.toString(lanePhaseIds) + + ", 车辆到前方停止线距离=" + d2StopLine + + "m, 相位数量=" + phaseNumber + + ", 信号灯相位状态=" + Arrays.toString(phaseState) + + '}'; + } + + + /** + * 信号灯相位状态 + */ + public final static class PhaseState { + /** + * 相位编号 + * [0..255]，当前道路向某下游节点行驶时所对应的信号灯相位ID + */ + public final int phaseID; + + /** + * 当前灯色 + * 枚举类型：[0..255]，0：未知状态；1：信号灯未工作；2：红闪；3：红灯状态；4：绿灯待行状态；5：绿灯状态；6：受保护相位绿灯（箭头灯）；7：黄灯状态；8：黄闪；9-254：预留；255：故障；不可缺省 + */ + public final AstFuncTlmPhaseStateLightState lightState; + + /** + * 当前灯色剩余时间 + * [0..255]，信号灯组灯色剩余时间，单位：秒；0：不确定；1-254：剩余时间；255：剩余时间超过254s；不可缺省 + */ + public final int timeLeft; + + /** + * 下一阶段灯色 + * 枚举类型：[0..255]，0：未知状态；1：信号灯未工作；2：红闪；3：红灯状态；4：绿灯待行状态；5：绿灯状态；6：受保护相位绿灯（箭头灯）；7：黄灯状态；8：黄闪；9-254：预留；255：故障；不可缺省 + */ + public final AstFuncTlmPhaseStateLightState nextLightState; + + /** + * 下一阶段灯色持续时间 + * [0..255]，信号灯组灯色剩余时间，单位：秒；0：不确定；1-254：剩余时间；255：剩余时间超过 254s；不可缺省 + */ + public final int nextLightTime; + + /** + * 灯组类型 + * 枚举类型：[1..254]，1：直行方向指示信号灯；2：左转方向指示信号灯；3：右转方向指示信号灯；4：机动车信号灯；5：左转非机动车信号灯；6：右转非机动车信号灯；7：非机动车信号灯；8：人行横道信号灯；9：掉头信号灯；10：车道信号灯；11：道口信号灯；12：闪光警告信号灯；13：有轨电车专用信号灯（直行）；14：有轨电车专用信号灯（左转）；15：有轨电车专用信号灯（右转）；17-254：预留；0xFF 表示无效或未知灯组类型 + */ + public final AstFuncTlmPhaseStateLightType lightType; + + + public PhaseState(int phaseID, int lightState, int timeLeft, int nextLightState, int nextLightTime, int lightType) { + this.phaseID = phaseID; + this.lightState = AstFuncTlmPhaseStateLightState.getType(lightState); + this.timeLeft = timeLeft; + this.nextLightState = AstFuncTlmPhaseStateLightState.getType(nextLightState); + this.nextLightTime = nextLightTime; + this.lightType = AstFuncTlmPhaseStateLightType.getType(lightType); + } + + @Override + public String toString() { + return "{" + + "相位编号=" + phaseID + + ", 当前灯色=" + lightState + + ", 当前灯色剩余时间=" + timeLeft + + ", 下一阶段灯色=" + nextLightState + + ", 下一阶段灯色持续时间=" + nextLightTime + + ", 灯组类型=" + lightType + + '}'; + } + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiAbandonInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiAbandonInfo.java new file mode 100644 index 0000000000..5beff907ca --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiAbandonInfo.java @@ -0,0 +1,122 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info.rsi; + +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.data.bean.cloud.component.Position; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; + +import java.util.Arrays; + +/** + * 实时决策建议 rsi 路面遗撒预警功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link AdviceComRsiInfo.Rsi#eventType} == {@link RsiCloudDecisionEventType#ROAD_DEBRIS_WARNING} + * 使用 + */ +public final class AdviceRsiAbandonInfo { + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + /** + * 路面遗撒事件特征物的长度 + * [0..655.34]，655.35 表示缺省，单位：m + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double len; + + /** + * 路面遗撒事件特征物的宽度 + * [0..655.34]，655.35 表示缺省，单位：m + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double width; + + /** + * 路面遗撒事件特征物的高度 + * [0..655.34]，655.35 表示缺省，单位：m + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double height; + + /** + * 障碍物所在车道对应的 road车道编号 0：无效 + * {@link Long#MIN_VALUE} 或 -1 表示解析失败/异常 + */ + public final long roadId; + + /** + * 异常车辆所在车道, 异常车辆所在车道编号 0-255 0： 无效； 1：最内侧车道，向外依次递增 ； 255： 缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int laneId; + + /** + * 受事件影响不能通行车道数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int laneOfEventNum; + + /** + * 受事件影响不能通行车道 + * (laneOfEventNum == {@link Integer#MIN_VALUE} && lanOfEvent == null) 表示解析失败/异常 + */ + public final int[] lanOfEvent; + + /** + * 事件影响范围数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int boundPolyWktNum; + + /** + * 事件影响范围，为多个点的集合 + * (boundPolyWktNum == {@link Integer#MIN_VALUE} && boundPolyWkt == null) 表示解析失败/异常 + */ + public final Position[] boundPolyWkt; + + /** + * 距离 + * [0..655.34]，单位：m，655.35 表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double distance; + + public AdviceRsiAbandonInfo(int valid, double len, double width, double height, long roadId, int laneId, int laneOfEventNum, int[] lanOfEvent, int boundPolyWktNum, Position[] boundPolyWkt, double distance) { + this.valid = valid; + this.len = len; + this.width = width; + this.height = height; + this.roadId = roadId; + this.laneId = laneId; + this.laneOfEventNum = laneOfEventNum; + this.lanOfEvent = lanOfEvent; + this.boundPolyWktNum = boundPolyWktNum; + this.boundPolyWkt = boundPolyWkt; + this.distance = distance; + } + + + @Override + public String toString() { + return "路面遗撒预警功能-扩展字段补充{" + + "决策建议消息的生成与消散=" + valid + + ", 路面遗撒事件特征物的长度=" + len + + "m, 路面遗撒事件特征物的宽度=" + width + + "m, 路面遗撒事件特征物的高度=" + height + + "m, 障碍物所在车道对应的road车道编号=" + roadId + + ", 异常车辆所在车道=" + laneId + + ", 受事件影响不能通行车道数量=" + laneOfEventNum + + ", 受事件影响不能通行车道=" + Arrays.toString(lanOfEvent) + + ", 事件影响范围数量=" + boundPolyWktNum + + ", 事件影响范围=" + Arrays.toString(boundPolyWkt) + + ", 距离=" + distance + + "m}"; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiLaneProposalInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiLaneProposalInfo.java new file mode 100644 index 0000000000..1d4c74be5b --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiLaneProposalInfo.java @@ -0,0 +1,109 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info.rsi; + +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; + +import java.util.Arrays; + +/** + * 实时决策建议 rsi 行驶车道建议功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link AdviceComRsiInfo.Rsi#eventType} == ({@link RsiCloudDecisionEventType#DRIVING_LANE_SUGGESTION_6031} || {@link RsiCloudDecisionEventType#DRIVING_LANE_SUGGESTION_6032) + * 使用 + */ +public final class AdviceRsiLaneProposalInfo { + + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + /** + * 建议目标车道数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int tagLaneDataNum; + + /** + * 建议目标车道信息 + * (tagLaneDataNum == {@link Integer#MIN_VALUE} && tagLaneData == null) 表示解析失败/异常 + */ + public final TagLaneData[] tagLaneData; + + /** + * 当前车道序号 车道编号 0-255 ,0：无效 ，1:为最内侧车道，向外依次递增，255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int curLaneSeq; + /** + * 当前车道road序号 车道编号 0：无效, -1 缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int curRoadSeq; + + /** + * 车道转向 0-255，0：无效，1：直行，2：左转， 3：右转，4：掉头，255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int directionType; + /** + * 变道方向 0-255，0：无效，1：左变道，2：右变道，3：按当前车道，255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int laneChgType; + + public AdviceRsiLaneProposalInfo(int valid, int tagLaneDataNum, TagLaneData[] tagLaneData, int curLaneSeq, int curRoadSeq, int directionType, int laneChgType) { + this.valid = valid; + this.tagLaneDataNum = tagLaneDataNum; + this.tagLaneData = tagLaneData; + this.curLaneSeq = curLaneSeq; + this.curRoadSeq = curRoadSeq; + this.directionType = directionType; + this.laneChgType = laneChgType; + } + + @Override + public String toString() { + return "行驶车道建议功能-扩展字段补充{" + + "决策建议消息的生成与消散=" + valid + + ", 建议目标车道数量=" + tagLaneDataNum + + ", 建议目标车道信息=" + Arrays.toString(tagLaneData) + + ", 当前车道序号=" + curLaneSeq + + ", 当前车道road序号=" + curRoadSeq + + ", 车道转向=" + directionType + + ", 变道方向=" + laneChgType + + '}'; + } + + public static final class TagLaneData { + + /** + * 建议（目标）车道序号 车道编号 0-255 ,0：无效 ，1:为最内侧车道，向外依次递增，255：缺省 + */ + public final int tagLaneSeq; + + /** + * 建议（目标）车道road序号 车道编号 0：无效, -1缺省 + */ + public final int tagRoadSeq; + + public TagLaneData(int tagLaneSeq, int tagRoadSeq) { + this.tagLaneSeq = tagLaneSeq; + this.tagRoadSeq = tagRoadSeq; + } + + @Override + public String toString() { + return "{" + + "建议（目标）车道序号=" + tagLaneSeq + + ", 建议（目标）车道road序号=" + tagRoadSeq + + '}'; + } + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiLightWarningInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiLightWarningInfo.java new file mode 100644 index 0000000000..85e1882fcb --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiLightWarningInfo.java @@ -0,0 +1,80 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info.rsi; + +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; + +import java.util.Arrays; + +/** + * 实时决策建议 rsi 闯红灯预警功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link AdviceComRsiInfo.Rsi#eventType} == {@link RsiCloudDecisionEventType#RED_LIGHT_RUNNING_WARNING} + * 使用 + */ +public final class AdviceRsiLightWarningInfo { + + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + /** + * 车辆所在位置到停止线的距离 + * 单位：m，0xFFFF 表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double d2StopLine; + + /** + * 预警相位个数 + * 0-255，0：无效，255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int numPhase; + + /** + * 预警相位列表 + * null 表示解析失败/异常 + */ + public final int[] spatWarning; + + /** + * 预警方向相位ID + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int phaseId; + + /** + * 预警类型 + * 0-255，0：无效，1：表示当前为红灯状态，2：表示当前为非红灯状态，255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int warningType; + + public AdviceRsiLightWarningInfo(int valid, double d2StopLine, int numPhase, int[] spatWarning, int phaseId, int warningType) { + this.valid = valid; + this.d2StopLine = d2StopLine; + this.numPhase = numPhase; + this.spatWarning = spatWarning; + this.phaseId = phaseId; + this.warningType = warningType; + } + + @Override + public String toString() { + return "闯红灯预警功能-扩展字段补充{" + + "决策建议消息的生成与消散=" + valid + + ", 车辆所在位置到停止线的距离=" + d2StopLine + + "m, 预警相位个数=" + numPhase + + ", 预警相位列表=" + Arrays.toString(spatWarning) + + ", 预警方向相位ID=" + phaseId + + ", 预警类型=" + warningType + + '}'; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiOtherCarBreakReadWarningInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiOtherCarBreakReadWarningInfo.java new file mode 100644 index 0000000000..862b83ac8d --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiOtherCarBreakReadWarningInfo.java @@ -0,0 +1,164 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info.rsi; + +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; + +import java.util.Arrays; + +/** + * 实时决策建议 rsi 路口其他车辆闯红灯预警功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link AdviceComRsiInfo.Rsi#eventType} == {@link RsiCloudDecisionEventType#INTERSECTION_RED_LIGHT_WARNING} + * 使用 + */ +public final class AdviceRsiOtherCarBreakReadWarningInfo { + + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + /** + * 车辆所在位置到停止线的距离 + * [0..655.34]，单位：m，655.35表示缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final double d2StopLine; + + /** + * 建议目标车道数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int numPhase; + + /** + * 预警相位 + * (numPhase == {@link Integer#MIN_VALUE} && spatWaring == null) 表示解析失败/异常 + */ + public final int[] spatWaring; + /** + * 预警方向相位 ID + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int phaseId; + /** + * 预警类型，0-255，0：无效，1：表示当前为红灯状态，2：表示当前为非红灯状态，255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int warningType; + /** + * 目标车辆数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int objectiveNum; + /** + * 车辆列表 + * (objectiveNum == {@link Integer#MIN_VALUE} && objective == null) 表示解析失败/异常 + */ + public final OtherCar[] objective; + + public AdviceRsiOtherCarBreakReadWarningInfo(int valid, double d2StopLine, int numPhase, int[] spatWaring, int phaseId, int warningType, int objectiveNum, OtherCar[] objective) { + this.valid = valid; + this.d2StopLine = d2StopLine; + this.numPhase = numPhase; + this.spatWaring = spatWaring; + this.phaseId = phaseId; + this.warningType = warningType; + this.objectiveNum = objectiveNum; + this.objective = objective; + } + + + @Override + public String toString() { + return "路口其他车辆闯红灯预警功能-扩展字段补充{" + + "决策建议消息的生成与消散=" + valid + + ", 车辆所在位置到停止线的距离=" + d2StopLine + + "m, 建议目标车道数量=" + numPhase + + ", 预警相位=" + Arrays.toString(spatWaring) + + ", 预警方向相位ID=" + phaseId + + ", 预警类型=" + warningType + + ", 目标车辆数量=" + objectiveNum + + ", 车辆列表=" + Arrays.toString(objective) + + '}'; + } + + public static final class OtherCar { + + /** + * 事件唯一标识 + * null 表示解析失败/异常 + */ + public final String uuid; + + /** + * 车辆类型 + * 2：乘用车 + * 4：特殊用车辆 + * 5：公交车 + * 7：卡车 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int type; + + /** + * 异常车辆的行驶速度 + * [0..200.00]，单位：m/s，655.35 表示缺省 + */ + public final double speed; + /** + * 经度，单位：°，表示-180.0000000°～180.0000000°，大于0 表示东经，不可缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double longitude; + /** + * 纬度，单位：°，表示-90.0000000°～90.0000000°，大于 0 表示北纬，不可缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double latitude; + /** + * 航向角 + * [0..360.0000]，异常车辆的航向角，为正北方向顺时针旋转至与车辆当前运动方向重合所转过的角度，单位：°，-1表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double heading; + + public OtherCar(String uuid, int type, double speed, int longitude, int latitude, int heading) { + this.uuid = uuid; + this.type = type; + this.speed = speed; + if (longitude == -1) { + this.longitude = Double.MIN_VALUE; + } else { + this.longitude = (longitude / 10000000.0D) - 180.0; + } + if (latitude == -1) { + this.latitude = Double.MIN_VALUE; + } else { + this.latitude = (latitude / 10000000.0D) - 90.0; + } + if (heading == -1) { + this.heading = Double.MIN_VALUE; + } else { + this.heading = heading / 10000.0D; + } + } + + @Override + public String toString() { + return "{" + + "事件唯一标识='" + uuid + '\'' + + ", 车辆类型=" + type + + ", 异常车辆的行驶速度=" + speed + + "m/s, 经度=" + longitude + + "°, 纬度=" + latitude + + "°, 航向角=" + heading + + "°}"; + } + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiOverSightDistanceInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiOverSightDistanceInfo.java new file mode 100644 index 0000000000..584a57973b --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiOverSightDistanceInfo.java @@ -0,0 +1,75 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info.rsi; + +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; + +/** + * 实时决策建议 rsi 超视距弱势交通参与者预警功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link AdviceComRsiInfo.Rsi#eventType} == {@link RsiCloudDecisionEventType#ROAD_HAZARD_ALERT_SERVICE_6021} + * 使用 + */ +public final class AdviceRsiOverSightDistanceInfo { + + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + /** + * 弱势交通参与者类型 0： 未知； 1： 行人； 2：非机动车； 255： 缺省； 其他：预留 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int type; + + + /** + * 异常车辆的行驶速度 + * [0..200.00]，单位：m/s，655.35 表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double velocity; + + /** + * 航向角 + * [0..360.0000]，异常车辆的航向角，为正北方向顺时针旋转至与车辆当前运动方向重合所转过的角度，单位：°，-1表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double heading; + + /** + * 距离 + * [0..655.34]，单位：m，655.35 表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double distance; + + public AdviceRsiOverSightDistanceInfo(int valid, int type, double velocity, int heading, double distance) { + this.valid = valid; + this.type = type; + this.velocity = velocity; + if (heading == -1) { + this.heading = Double.MIN_VALUE; + } else { + this.heading = heading / 10000.0D; + } + this.distance = distance; + } + + @Override + public String toString() { + return "超视距弱势交通参与者预警功能-扩展字段补充{" + + "决策建议消息的生成与消散=" + valid + + ", 弱势交通参与者类型=" + type + + ", 异常车辆的行驶速度=" + velocity + + "m/s, heading=" + heading + + "°, distance=" + distance + + "m}"; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiRoadDangerHintInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiRoadDangerHintInfo.java new file mode 100644 index 0000000000..d842a43b80 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiRoadDangerHintInfo.java @@ -0,0 +1,105 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info.rsi; + +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.data.bean.cloud.component.Position; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; + +import java.util.Arrays; + +/** + * 实时决策建议 rsi 道路危险状况提示服务功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link AdviceComRsiInfo.Rsi#eventType} == ({@link RsiCloudDecisionEventType#ROAD_HAZARD_ALERT_SERVICE_6021} || {@link RsiCloudDecisionEventType#ROAD_HAZARD_ALERT_SERVICE_6022}) + * 使用 + */ +public final class AdviceRsiRoadDangerHintInfo { + + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + /** + * 危险事件编码 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int alterType; + + /** + * 受事件影响不能通行的车道数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int laneOfEventNum; + + /** + * 受事件影响不能通行的车道，最内侧车道 id 为 1， + * 往外依次递增 + * null 表示解析失败/异常 + */ + public final int[] laneOfEvent; + + /** + * 车辆所在位置到停止线的距离 + * [0..655.34]，单位：m，65535表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double d2Event; + + /** + * 事件开始时间 + * {@link Long#MIN_VALUE} 表示解析失败/异常 + */ + public final long startTime; + + /** + * 事件结束时间 + * {@link Long#MIN_VALUE} 表示解析失败/异常 + */ + public final long endTime; + + /** + * 点集合数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int boundPolyWktNum; + + + /** + * 事件影响范围，为多个点的集合 + * (boundPolyWktNum == {@link Integer#MIN_VALUE} && boundPolyWkt == null) 表示解析失败/异常 + */ + public final Position[] boundPolyWkt; + + public AdviceRsiRoadDangerHintInfo(int valid, int alterType, int laneOfEventNum, int[] laneOfEvent, double d2Event, long startTime, long endTime, int boundPolyWktNum, Position[] boundPolyWkt) { + this.valid = valid; + this.alterType = alterType; + this.laneOfEventNum = laneOfEventNum; + this.laneOfEvent = laneOfEvent; + this.d2Event = d2Event; + this.startTime = startTime; + this.endTime = endTime; + this.boundPolyWktNum = boundPolyWktNum; + this.boundPolyWkt = boundPolyWkt; + } + + @Override + public String toString() { + return "道路危险状况提示服务功能-扩展字段补充{" + + "决策建议消息的生成与消散=" + valid + + ", 危险事件编码=" + alterType + + ", 受事件影响不能通行的车道数量=" + laneOfEventNum + + ", 受事件影响不能通行的车道=" + Arrays.toString(laneOfEvent) + + ", 车辆所在位置到停止线的距离=" + d2Event + + "m, 事件开始时间=" + startTime + + ", 事件结束时间=" + endTime + + ", 点集合数量=" + boundPolyWktNum + + ", 事件影响范围=" + Arrays.toString(boundPolyWkt) + + '}'; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiTrafficJamInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiTrafficJamInfo.java new file mode 100644 index 0000000000..f4f15ecaaf --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiTrafficJamInfo.java @@ -0,0 +1,92 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info.rsi; + +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; + +import java.util.Arrays; + +/** + * 实时决策建议 rsi 交通拥堵提醒功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link AdviceComRsiInfo.Rsi#eventType} == {@link RsiCloudDecisionEventType#TRAFFIC_CONGESTION_ALERT} + * 使用 + */ +public final class AdviceRsiTrafficJamInfo { + + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + /** + * 车辆所在位置到停止线的距离 + * [0..655.34]，单位：m，655.35 表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double dis2start; + + /** + * 车道road序号数量 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int roadIdNum; + + /** + * 车道road序号 车道编号 0：无效 + * (roadIdNum == {@link Long#MIN_VALUE} && roadIds == null) 表示解析失败/异常 + */ + public final long[] roadIds; + + /** + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int rsiLaneId; + + /** + * 异常车辆的行驶速度 + * [0..200.00]，，单位：m/s，655.35 表示缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final double vaLane; + /** + * [0..655.34]，单位：m，655.35 表示缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final double queueLength; + /** + * 拥堵程度。0:畅通; 1:缓行; 2:拥堵; 3:重拥堵 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int eventLevel; + + public AdviceRsiTrafficJamInfo(int valid, double dis2start, int roadIdNum, long[] roadIds, int rsiLaneId, double vaLane, double queueLength, int eventLevel) { + this.valid = valid; + this.dis2start = dis2start; + this.roadIdNum = roadIdNum; + this.roadIds = roadIds; + this.rsiLaneId = rsiLaneId; + this.vaLane = vaLane; + this.queueLength = queueLength; + this.eventLevel = eventLevel; + } + + @Override + public String toString() { + return "交通拥堵提醒功能-扩展字段补充{" + + "决策建议消息的生成与消散=" + valid + + ", dis2start=" + dis2start + + "m, 车道road序号数量=" + roadIdNum + + ", 车道road序号=" + Arrays.toString(roadIds) + + ", rsiLaneId=" + rsiLaneId + + ", 异常车辆的行驶速度=" + vaLane + + "m, queueLength=" + queueLength + + "m, 拥堵程度=" + eventLevel + + '}'; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiVisibilityInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiVisibilityInfo.java new file mode 100644 index 0000000000..615d0f1e67 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/info/rsi/AdviceRsiVisibilityInfo.java @@ -0,0 +1,42 @@ +package com.zhjt.mogo.adas.data.bean.cloud.info.rsi; + +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; + +/** + * 实时决策建议 rsi 能见度预警功能-扩展字段补充 + * 当 + * {@link AdvicePojo#eventType} == {@link AdviceEventType#CLOUD_DECISION} + * && + * {@link AdviceComRsiInfo.Rsi#eventType} == {@link RsiCloudDecisionEventType#VISIBILITY_WARNING} + * 使用 + */ +public final class AdviceRsiVisibilityInfo { + /** + * 能见度距离 + * [0..655.34]，单位：m，655.35 表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double visibilityDis; + /** + * 决策建议消息的生成与消散 + * 0：无效 1：有效 255：缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int valid; + + public AdviceRsiVisibilityInfo(double visibilityDis, int valid) { + this.visibilityDis = visibilityDis; + this.valid = valid; + } + + @Override + public String toString() { + return "超视距弱势交通参与者预警功能-扩展字段补充{" + + "能见度距离=" + visibilityDis + + "m, 决策建议消息的生成与消散=" + valid + + '}'; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/pojo/AdvicePojo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/pojo/AdvicePojo.java new file mode 100644 index 0000000000..a64b81f104 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/pojo/AdvicePojo.java @@ -0,0 +1,84 @@ +package com.zhjt.mogo.adas.data.bean.cloud.pojo; + +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.AdviceInstructDirection; +import com.zhjt.mogo.adas.common.cloud.AdviceType; +import com.zhjt.mogo.adas.utils.ByteUtil; + +/** + * 实时决策建议 + * 注：请求的决策建议为通用RSI功能时，当RSIS为多组数据包时，表中车速建议、加速度建议、控车变道建议转向状态3个字段填缺省值，每组数据对应的决策信息通过自定义字段传输。 + */ +public final class AdvicePojo extends BasePojo { + + /** + * 建议类型 + * 各项功能对应的 adviceType，若为单一功能决策结果时，功能及对应的取值应符合表 24 中的要求，若为多功能决策时，取值为254，不可缺省 + * {@link AdviceType#ERROR} 表示解析失败/异常 + */ + public final AdviceType adviceType; + /** + * 事件分类 + * 枚举类型：[0..3]，0：未知类型；1：交通事件类；2：道路交通标志；3：云端决策建议，不可缺省 + * {@link AdviceEventType#ERROR} 表示解析失败/异常 + */ + public final AdviceEventType eventType; + + /** + * 车速建议 + * [0..200.00]，单位：m/s，655.35表示缺省，描述给车辆下发的决策建议速度 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double spdExp; + /** + * 加速度建议 + * 云端向车辆下发的行驶纵向加速度建议，单位：m/s2，表示-100.00 m/s2～100.00m/s2，555.35表示缺省 + * {@link Double#MIN_VALUE} 表示解析失败/异常 + */ + public final double accExp; + /** + * 控车变道建议转向状态 + * 枚举类型：[0..10]，0：沿车道行驶；1：第一出口；2：第二出口；3：第三出口；4：第四出口；5：第五出口；6：第六出口；7：第七出口；8：第八出口；9：左变道；10：右变道；0xFF 表示缺省；出口定义从当前道路逆时针算起，描述给车辆下发的控车变道决策指令 + * {@link AdviceInstructDirection#ERROR} 表示解析失败/异常 + */ + public final AdviceInstructDirection instructDirection; + + /** + * 命令长度 + * [0..65535]，不可缺省，0 表示命令失效，此时该条消息全部无效 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int dataLen; + /** + * 命令数据 + * 长度为 N 个字节，其中 N 为命令长度，数据结构根据功能不同应分别符合 8.5.5-8.5.15 的要求 + * (dataLen == Integer.MIN_VALUE && adviceData == null) 表示解析失败/异常 + */ + public final byte[] adviceData; + + + public AdvicePojo(String vehicleId, long seq, int adviceType, int eventType, double spdExp, double accExp, int instructDirection, int dataLen, byte[] adviceData) { + super(vehicleId, seq); + this.adviceType = AdviceType.getType(adviceType); + this.eventType = AdviceEventType.getType(eventType); + this.spdExp = spdExp; + this.accExp = accExp; + this.instructDirection = AdviceInstructDirection.getType(instructDirection); + this.dataLen = dataLen; + this.adviceData = adviceData; + } + + @Override + public String toString() { + return "实时决策建议{" + + super.toString() + + ", 建议类型=" + adviceType + + ", 事件分类=" + eventType + + ", 车速建议=" + spdExp + + "m/s, 加速度建议=" + accExp + + "m/s², 控车变道建议转向状态=" + instructDirection + + ", 命令长度=" + dataLen + + ", 命令数据=" + ByteUtil.byteArrToHex(adviceData) + + '}'; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/pojo/AstFuncPojo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/pojo/AstFuncPojo.java new file mode 100644 index 0000000000..1e3f69acce --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/pojo/AstFuncPojo.java @@ -0,0 +1,49 @@ +package com.zhjt.mogo.adas.data.bean.cloud.pojo; + +import com.zhjt.mogo.adas.common.cloud.AstFuncType; +import com.zhjt.mogo.adas.utils.ByteUtil; + +/** + * 云端辅助功能信息 + */ +public final class AstFuncPojo extends BasePojo { + + + /** + * 辅助功能类别 + * 各项功能对应的 astFuncType，功能及对应的取值应符合表57 中的要求 + * {@link AstFuncType#ERROR} 表示解析失败/异常 + */ + public final AstFuncType astFuncType; + + /** + * 命令长度 + * [0..65535]，不可缺省 + * {@link Integer#MIN_VALUE} 表示解析失败/异常 + */ + public final int dataLen; + + /** + * 命令数据 + * 长度为 N 个字节，其中 N 为命令长度，数据结构根据功能不同应分别符合 8.8.6～8.8.11 的要求 + * (dataLen == {@link Integer#MIN_VALUE} && infoData == null) 表示解析失败/异常 + */ + public final byte[] infoData; + + public AstFuncPojo(String vehicleId, long seq, int astFuncType, int dataLen, byte[] infoData) { + super(vehicleId, seq); + this.astFuncType = AstFuncType.getType(astFuncType); + this.dataLen = dataLen; + this.infoData = infoData; + } + + @Override + public String toString() { + return "辅助功能{" + + super.toString() + + ", 辅助功能类别=" + astFuncType + + ", 命令长度=" + dataLen + + ", 命令数据=" + ByteUtil.byteArrToHex(infoData) + + '}'; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/pojo/BasePojo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/pojo/BasePojo.java new file mode 100644 index 0000000000..be86335e44 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/cloud/pojo/BasePojo.java @@ -0,0 +1,27 @@ +package com.zhjt.mogo.adas.data.bean.cloud.pojo; + +public abstract class BasePojo { + /** + * 车辆编号 + * 长度为 8 个字节的字符串，该车辆编号必须在云控基础平台中进行登记/注册，车辆编号定义见附录 B vehicleId 编码规则，不可缺省 + * null 表示解析失败/异常 + */ + public final String vehicleId; + + /** + * 消息标识 + * [0..264-1]，云端维护（计数）下发消息中seq，车端向云端反馈收到的云端消息中的 seq 以确认接收 + * {@link Long#MIN_VALUE} 表示解析失败/异常 + */ + public final long seq; + + public BasePojo(String vehicleId, long seq) { + this.vehicleId = vehicleId; + this.seq = seq; + } + + @Override + public String toString() { + return "车辆编号=" + vehicleId + ", 消息标识=" + seq; + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/utils/ByteUtil.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/utils/ByteUtil.java index c450e03f87..7bbe147529 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/utils/ByteUtil.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/utils/ByteUtil.java @@ -75,6 +75,10 @@ public class ByteUtil { return value; } + public static int get8bitUnsignedValue(byte data) { + return data & 0xFF; + } + /** * 无符号 * 合并 2 byte @@ -121,6 +125,7 @@ public class ByteUtil { * 合并 4 byte * 使用后将 Index中的index移动到下一个数据的开始位 * * + * 0xFFFFFFFF 还是-1,返回值换成long类型可以表示无符号类型 * * @param index 开始下标 * @param data diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 03c2de6c1d..db84b092a4 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -102,7 +102,7 @@ enum MessageType MsgTypeSSMFuncStatusQuery = 0x10130;//SSM功能状态查询及返回(上下行) // MsgTypeHeartbeat = 0x10131;//PAD给域控下发心跳 1Hz 空数据 TODO 废弃，改用发送"6e 68 6f 69"数据作为心跳 MsgTypeCaptureImgReqOnTakeOver = 0x10132;//人工接管时PAD请求前后摄像头数据 - MsgTypeEzhouCloud = 0x10133;//NED pad通信（不仅限于鄂州） bus ros1 MAP500版本支持， bus ros2 MAP480版本支持，taxi 还没有上 + MsgTypeEzhouCloud = 0x10133;//NED鄂州pad通信（不仅限于鄂州） bus ros1 MAP500版本支持， bus ros2 MAP480版本支持，taxi 还没有上 MsgTypeCopyBag = 0x10134;//数据落盘(上下行) MsgTypeCloudConfig = 0x10135;//云端配置查询和返回(上下行) MsgTypeImgUploadCloudEnable = 0x10136;//摄像头上传NDE云开关 @@ -991,6 +991,13 @@ message CaptureImgOnTakeOver bytes data = 2; } +//message definition for MsgTypeEzhouCloud +//鄂州数据 +message EZhouCloud +{ + bytes data = 1; +} + //message definition for MsgTypeCloudConfig //云连接地址 message CloudLinkAddr 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 0e2c91ea5b..462a3f0fd4 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 @@ -319,6 +319,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec dispatchHandlers.put(MessagePad.MessageType.MsgTypeM1StitchedVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeM1StitchedVideo, this)); //FSM2024 dispatchHandlers.put(MessagePad.MessageType.MsgTypeFSM2024State, new DispatchHandler(MessagePad.MessageType.MsgTypeFSM2024State, this)); + //NED鄂州pad通信（不仅限于鄂州） + dispatchHandlers.put(MessagePad.MessageType.MsgTypeEzhouCloud, new DispatchHandler(MessagePad.MessageType.MsgTypeEzhouCloud, this)); } private void initSsmDispatch(AdasConstants.SsmSource source) { @@ -666,6 +668,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec callError(raw.getProtocolStatus(), raw.originalData.toByteArray()); } } catch (Exception e) { + Log.e(TAG, "onDispatchRaw", e); callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray(), e); } } 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 0b1f4da5a8..97e12a7ed4 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 @@ -16,6 +16,14 @@ import com.zhjt.mogo.adas.data.bean.LaunchConditionData; import com.zhjt.mogo.adas.data.bean.NodeStateInfo; import com.zhjt.mogo.adas.data.bean.ReceivedAck; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceAvwInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceEvwInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceGlosaInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceLaneSpdLmtInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AstFuncTlmInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AstFuncPojo; import com.zhjt.mogo.adas.data.bean.power.PowerData; import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable; import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask; @@ -672,6 +680,69 @@ public interface OnAdasListener { */ void onImgUploadCloudStatusResp(@NonNull MessagePad.Header header, @NonNull MessagePad.ImgUploadCloudStatusResp resp); + /** + * NDE下发 信号灯信息 + * + * @param header 头 + * @param astFuncPojo 云端辅助功能信息 + * @param astFuncTlmInfo 云端下发信号灯信息 + */ + void onNdeCloudAstFuncTlm(@NonNull MessagePad.Header header, @NonNull AstFuncPojo astFuncPojo, @NonNull AstFuncTlmInfo astFuncTlmInfo); + + /** + * NDE下发 信号灯路口车速引导功能指令 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceGlosaInfo 信号灯路口车速引导功能指令 + */ + void onNdeCloudAdviceGlosa(@NonNull MessagePad.Header header, @NonNull AdvicePojo advicePojo, @NonNull AdviceGlosaInfo adviceGlosaInfo); + + /** + * NDE下发 通用 RSI 预警指令 + * 包含： + * 闯红灯预警 + * 行驶车道建议 + * 交通拥堵提醒 + * 道路危险状况提示 + * 超视距弱势交通参与者提醒 + * 路口其他车辆闯红灯预警 + * 障碍物(路面遗撒)预警 + * 能见度预警 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceComRsiInfo 通用RSI预警指令 + */ + void onNdeCloudAdviceComRsi(@NonNull MessagePad.Header header, @NonNull AdvicePojo advicePojo, @NonNull AdviceComRsiInfo adviceComRsiInfo); + + /** + * NDE下发 紧急车辆预警指令 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceEvwInfo 紧急车辆预警指令 + */ + void onNdeCloudAdviceEvw(@NonNull MessagePad.Header header, @NonNull AdvicePojo advicePojo, @NonNull AdviceEvwInfo adviceEvwInfo); + + /** + * NDE下发 动态车道级限速指令 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceLaneSpdLmtInfo 动态车道级限速指令 + */ + void onNdeCloudAdviceLaneSpdLmt(@NonNull MessagePad.Header header, @NonNull AdvicePojo advicePojo, @NonNull AdviceLaneSpdLmtInfo adviceLaneSpdLmtInfo); + + /** + * NDE下发 异常车辆预警指令 + * + * @param header 头 + * @param advicePojo 实时决策建议 + * @param adviceAvwInfo 异常车辆预警指令 + */ + void onNdeCloudAdviceAvw(@NonNull MessagePad.Header header, @NonNull AdvicePojo advicePojo, @NonNull AdviceAvwInfo adviceAvwInfo); + /** * 是否有能力启动自动驾驶 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CloudControlMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CloudControlMessage.java new file mode 100644 index 0000000000..0d6dfb8fea --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CloudControlMessage.java @@ -0,0 +1,1551 @@ +package com.zhidao.support.adas.high.msg; + +import android.util.Log; + +import androidx.annotation.NonNull; + +import com.google.protobuf.InvalidProtocolBufferException; +import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.protocol.RawData; +import com.zhjt.mogo.adas.common.cloud.AdviceEventType; +import com.zhjt.mogo.adas.common.cloud.AdviceType; +import com.zhjt.mogo.adas.common.cloud.AstFuncType; +import com.zhjt.mogo.adas.common.cloud.CloudDataType; +import com.zhjt.mogo.adas.common.cloud.RsiCloudDecisionEventType; +import com.zhjt.mogo.adas.data.bean.cloud.component.Position; +import com.zhjt.mogo.adas.data.bean.cloud.component.SpeedLimit; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceAvwInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceComRsiInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceEvwInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceGlosaInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AdviceLaneSpdLmtInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.AstFuncTlmInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiAbandonInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiLaneProposalInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiLightWarningInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiOtherCarBreakReadWarningInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiOverSightDistanceInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiRoadDangerHintInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiTrafficJamInfo; +import com.zhjt.mogo.adas.data.bean.cloud.info.rsi.AdviceRsiVisibilityInfo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AdvicePojo; +import com.zhjt.mogo.adas.data.bean.cloud.pojo.AstFuncPojo; +import com.zhjt.mogo.adas.utils.ByteUtil; + +import java.nio.ByteBuffer; +import java.nio.charset.StandardCharsets; +import java.util.ArrayList; +import java.util.List; + +import mogo.telematics.pad.MessagePad; +import okio.Buffer; +import okio.ByteString; + +/** + * 云控数据解析 + */ +public class CloudControlMessage extends MyAbstractMessageHandler { + private static final String TAG = CloudControlMessage.class.getSimpleName(); + // 固定头部长度 + private static final int HEADER_SIZE = 16; + private final Buffer buffer = new Buffer(); + + public CloudControlMessage() { + } + + @Override + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { +// int len = raw.getPackageLengthValue() - raw.getOffsetValue(); +// byte[] rawData = new byte[len]; +// System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), rawData, 0, len); +// Log.i(TAG, buffer.size() + " 接收数据=" + ByteUtil.byteArrToHex(rawData)); +// buffer.write(rawData); + MessagePad.EZhouCloud cloud = MessagePad.EZhouCloud.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); + buffer.write(cloud.toByteArray()); + List list = readFrame(); + + for (Packet data : list) { + Log.i(TAG, "Packet=" + data); + if (data.cloudDataType == CloudDataType.CLOUD2VEH_ASTFUNC) { //TODO 云端辅助功能 + ByteBuffer temp = data.payload.asByteBuffer(); + parseCloud2VehAstFunc(raw.getHeader(), temp, adasListener); + } else if (data.cloudDataType == CloudDataType.CLOUD2VEH_ADVICE) { //TODO 实时决策建议 + ByteBuffer temp = data.payload.asByteBuffer(); + parseCloud2VehAstAdvice(raw.getHeader(), temp, adasListener); + } + } + } + + + /** + * 8.8 云端辅助功能信息及返回 + */ + private void parseCloud2VehAstFunc(MessagePad.Header header, ByteBuffer data, OnAdasListener adasListener) { + //车辆编号 + String vehicleId = null; + if (data.remaining() >= 8) { + byte[] bytes = new byte[8]; + data.get(bytes, 0, 8); + vehicleId = new String(bytes, StandardCharsets.UTF_8); + Log.i(TAG, "车辆编号：" + vehicleId); + } else { + Log.w(TAG, "车辆编号 数据长度不足8个字节"); + } + //消息标识 + long seq = Long.MIN_VALUE; + if (data.remaining() >= 8) { + seq = getUnsignedLong(data); + Log.i(TAG, "消息标识：" + seq); + } else { + Log.w(TAG, "车辆编号 数据长度不足8个字节"); + } + //辅助功能类别 + int astFuncType = 0; + if (data.remaining() >= 1) { + astFuncType = getUnsignedByte(data); + Log.i(TAG, "辅助功能类别：" + astFuncType); + } else { + Log.w(TAG, "辅助功能类别 数据长度不足1个字节"); + } + //命令长度 + int dataLen = Integer.MIN_VALUE; + byte[] infoData = null; + if (data.remaining() >= 2) { + dataLen = getUnsignedShort(data); + Log.i(TAG, "命令长度：" + dataLen); + int l = data.remaining(); + Log.i(TAG, "命令长度数据长度：" + l); + if (dataLen > 0 && dataLen == l) { + infoData = new byte[dataLen]; + data.get(infoData); + } + } else { + Log.w(TAG, "命令长度 数据长度不足2个字节"); + } + AstFuncPojo astFuncPojo = new AstFuncPojo(vehicleId, seq, astFuncType, dataLen, infoData); + Log.i(TAG, astFuncPojo.toString()); + if (astFuncPojo.astFuncType == AstFuncType.CLOUD2VEH_ASTFUNC_TLM) {//TODO 云端下发信号灯信息 + parseCloud2VehAstFuncTlm(header, astFuncPojo, adasListener); + } + } + + /** + * 8.8.9 云端下发信号灯信息 + */ + private void parseCloud2VehAstFuncTlm(MessagePad.Header header, AstFuncPojo astFuncPojo, OnAdasListener adasListener) { + ByteBuffer info = ByteBuffer.wrap(astFuncPojo.infoData); + int controlMode = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + controlMode = getUnsignedByte(info); + Log.i(TAG, "红绿灯控制方式：" + controlMode); + } else { + Log.w(TAG, "红绿灯控制方式 数据长度不足1个字节"); + } + int regionId = Integer.MIN_VALUE; + if (info.remaining() >= 2) { + regionId = getUnsignedShort(info); + Log.i(TAG, "区域ID：" + regionId); + } else { + Log.w(TAG, "区域ID 数据长度不足2个字节"); + } + int nodeId = Integer.MIN_VALUE; + if (info.remaining() >= 2) { + nodeId = getUnsignedShort(info); + Log.i(TAG, "路口ID：" + nodeId); + } else { + Log.w(TAG, "路口ID 数据长度不足2个字节"); + } + int numOfLanePhase = Integer.MIN_VALUE; + int[] lanePhaseIds = null; + if (info.remaining() >= 1) { + numOfLanePhase = getUnsignedByte(info); + Log.i(TAG, "车辆所在车道对应信号灯相位数量：" + numOfLanePhase); + int l = info.remaining(); + if (numOfLanePhase > 0 && numOfLanePhase < 254 && l >= numOfLanePhase) { + byte[] ids = new byte[numOfLanePhase]; + lanePhaseIds = new int[numOfLanePhase]; + info.get(ids); + for (int i = 0; i < ids.length; i++) { + lanePhaseIds[i] = ByteUtil.get8bitUnsignedValue(ids[i]); + } + Log.i(TAG, "车辆所在车道对应信号灯相位 ID 列表：" + ByteUtil.byteArrToHex(ids)); + } + } else { + Log.w(TAG, "车辆所在车道对应信号灯相位数量 数据长度不足1个字节"); + } + double d2StopLine = Double.MIN_VALUE; + if (info.remaining() >= 2) { + d2StopLine = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "车辆到前方停止线距离：" + d2StopLine); + } else { + Log.w(TAG, "车辆到前方停止线距离 数据长度不足2个字节"); + } + int phaseNumber = Integer.MIN_VALUE; + AstFuncTlmInfo.PhaseState[] phaseStates = null; + if (info.remaining() >= 1) { + phaseNumber = getUnsignedByte(info); + Log.i(TAG, "相位数量：" + phaseNumber); + int l = info.remaining(); + if (phaseNumber > 0 && l == phaseNumber * 6) { + byte[] phaseState = new byte[l]; + info.get(phaseState); + Log.i(TAG, "信号灯相位状态：" + ByteUtil.byteArrToHex(phaseState)); + phaseStates = new AstFuncTlmInfo.PhaseState[phaseNumber]; + for (int i = 0; i < phaseNumber; i++) { + int offset = i * 6; + phaseStates[i] = new AstFuncTlmInfo.PhaseState(ByteUtil.get8bitUnsignedValue(phaseState[offset]), + ByteUtil.get8bitUnsignedValue(phaseState[offset + 1]), + ByteUtil.get8bitUnsignedValue(phaseState[offset + 2]), + ByteUtil.get8bitUnsignedValue(phaseState[offset + 3]), + ByteUtil.get8bitUnsignedValue(phaseState[offset + 4]), + ByteUtil.get8bitUnsignedValue(phaseState[offset + 5])); + } + } + } else { + Log.w(TAG, "相位数量 数据长度不足1个字节"); + } + AstFuncTlmInfo astFuncTlmInfo = new AstFuncTlmInfo(controlMode, regionId, nodeId, numOfLanePhase, lanePhaseIds, d2StopLine, phaseNumber, phaseStates); + Log.i(TAG, astFuncTlmInfo.toString()); + if (adasListener != null) { + adasListener.onNdeCloudAstFuncTlm(header, astFuncPojo, astFuncTlmInfo); + } + } + + /** + * 8.5 云端决策建议信息及返回 + */ + private void parseCloud2VehAstAdvice(MessagePad.Header header, ByteBuffer data, OnAdasListener adasListener) { + //车辆编号 + String vehicleId = null; + if (data.remaining() >= 8) { + byte[] first8Bytes = new byte[8]; + data.get(first8Bytes, 0, 8); + vehicleId = new String(first8Bytes, StandardCharsets.UTF_8); + Log.i(TAG, "车辆编号：" + vehicleId); + } else { + Log.w(TAG, "车辆编号 数据长度不足8个字节"); + } + //消息标识 + long seq = Long.MIN_VALUE; + if (data.remaining() >= 8) { + seq = getUnsignedLong(data); + Log.i(TAG, "消息标识：" + seq); + } else { + Log.w(TAG, "车辆编号 数据长度不足8个字节"); + } + //建议类型 + int adviceType = 0; + if (data.remaining() >= 1) { + adviceType = ByteUtil.get8bitUnsignedValue(data.get()); + Log.i(TAG, "建议类型：" + adviceType); + } else { + Log.w(TAG, "建议类型 数据长度不足1个字节"); + } + //事件分类 + int eventType = Integer.MIN_VALUE; + if (data.remaining() >= 1) { + eventType = ByteUtil.get8bitUnsignedValue(data.get()); + Log.i(TAG, "事件分类：" + eventType); + } else { + Log.w(TAG, "事件分类 数据长度不足1个字节"); + } + //车速建议 + double spdExp = Double.MIN_VALUE; + if (data.remaining() >= 2) { + spdExp = getUnsignedShort(data) / 100.0D; + Log.i(TAG, "车速建议：" + spdExp); + } else { + Log.w(TAG, "车速建议 数据长度不足1个字节"); + } + //加速度建议 + double accExp = Double.MIN_VALUE; + if (data.remaining() >= 2) { + accExp = getUnsignedShort(data) / 100.0D - 100.0D; + Log.i(TAG, "加速度建议：" + accExp); + } else { + Log.w(TAG, "加速度建议 数据长度不足1个字节"); + } + //控车变道建议转向状态 + int instructDirection = Integer.MIN_VALUE; + if (data.remaining() >= 1) { + instructDirection = ByteUtil.get8bitUnsignedValue(data.get()); + Log.i(TAG, "控车变道建议转向状态：" + instructDirection); + } else { + Log.w(TAG, "控车变道建议转向状态 数据长度不足1个字节"); + } + //命令长度 + int dataLen = Integer.MIN_VALUE; + byte[] infoData = null; + if (data.remaining() >= 2) { + dataLen = getUnsignedShort(data); + Log.i(TAG, "命令长度：" + dataLen); + int l = data.remaining(); + Log.i(TAG, "命令长度数据长度：" + l); + if (dataLen > 0 && dataLen == l) { + infoData = new byte[dataLen]; + data.get(infoData); + } + } else { + Log.w(TAG, "命令长度 数据长度不足2个字节"); + } + AdvicePojo advicePojo = new AdvicePojo(vehicleId, seq, adviceType, eventType, spdExp, accExp, instructDirection, dataLen, infoData); + Log.i(TAG, advicePojo.toString()); + if (advicePojo.adviceType == AdviceType.CLOUD2VEH_ADVICE_GLOSA) {//TODO 信号灯路口车速引导功能指令 + parseCloud2VehAdviceGlosa(header, advicePojo, adasListener); + } else if (advicePojo.adviceType == AdviceType.CLOUD2VEH_ADVICE_LANESPDLMT) {//TODO 动态车道级限速指令 + parseCloud2VehAdviceLaneSpdLmt(header, advicePojo, adasListener); + } else if (advicePojo.adviceType == AdviceType.CLOUD2VEH_ADVICE_AVW) {//TODO 异常车辆预警指令 + parseCloud2VehAdviceAvw(header, advicePojo, adasListener); + } else if (advicePojo.adviceType == AdviceType.CLOUD2VEH_ADVICE_EVW) {//TODO 紧急车辆预警指令 + parseCloud2VehAdviceEvw(header, advicePojo, adasListener); + } else if (advicePojo.adviceType == AdviceType.CLOUD2VEH_ADVICE_COM_RSI) {//TODO 通用RSI预警指令 + parseCloud2VehAdviceComRsi(header, advicePojo, adasListener); + } + } + + /** + * 8.5.6 信号灯路口车速引导功能指令及返回 + */ + private void parseCloud2VehAdviceGlosa(MessagePad.Header header, AdvicePojo advicePojo, OnAdasListener adasListener) { + ByteBuffer info = ByteBuffer.wrap(advicePojo.adviceData); + //事件唯一标识 + String uuid = null; + if (info.remaining() >= 36) { + byte[] first36Bytes = new byte[36]; + info.get(first36Bytes, 0, 36); + uuid = new String(first36Bytes, StandardCharsets.UTF_8); + Log.i(TAG, "事件唯一标识：" + uuid); + } else { + Log.w(TAG, "事件唯一标识 数据长度不足36个字节"); + } + //事件生成时间戳 + long timestamp = Long.MIN_VALUE; + if (info.remaining() >= 8) { + timestamp = getUnsignedLong(info); + Log.i(TAG, "事件生成时间戳：" + timestamp); + } else { + Log.w(TAG, "事件生成时间戳 数据长度不足8个字节"); + } + //告警类型 + int alertType = Integer.MIN_VALUE; + if (info.remaining() >= 2) { + alertType = getUnsignedShort(info); + Log.i(TAG, "告警类型：" + alertType); + } else { + Log.w(TAG, "告警类型 数据长度不足2个字节"); + } + //有效标识 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "有效标识：" + valid); + } else { + Log.w(TAG, "有效标识 数据长度不足1个字节"); + } + //命令标识 + int type = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + type = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "命令标识：" + type); + } else { + Log.w(TAG, "命令标识 数据长度不足1个字节"); + } + //车辆所在位置到停止线距离 + double d2StopLine = Double.MIN_VALUE; + if (info.remaining() >= 2) { + d2StopLine = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "车辆所在位置到停止线距离：" + d2StopLine); + } else { + Log.w(TAG, "车辆所在位置到停止线距离 数据长度不足2个字节"); + } + //车道方向建议速度组数 + int spdExpNum = Integer.MIN_VALUE; + AdviceGlosaInfo.SpdExp[] spdExps = null; + if (info.remaining() >= 1) { + spdExpNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "车道方向建议速度组数：" + spdExpNum); + int l = info.remaining(); + if (spdExpNum > 0 && l == spdExpNum * 8) { + spdExps = new AdviceGlosaInfo.SpdExp[spdExpNum]; + for (int i = 0; i < spdExpNum; i++) { + spdExps[i] = new AdviceGlosaInfo.SpdExp(getUnsignedShort(info) / 100.0D, + getUnsignedShort(info) / 100.0D, + getUnsignedShort(info) / 100.0D, + getUnsignedByte(info), + getUnsignedByte(info)); + } + } + } else { + Log.w(TAG, "车道方向建议速度组数 数据长度不足1个字节"); + } + AdviceGlosaInfo adviceGlosaInfo = new AdviceGlosaInfo(uuid, timestamp, alertType, valid, type, d2StopLine, spdExpNum, spdExps); + Log.i(TAG, adviceGlosaInfo.toString()); + if (adasListener != null) { + adasListener.onNdeCloudAdviceGlosa(header, advicePojo, adviceGlosaInfo); + } + } + + + /** + * 8.5.14 通用 RSI 预警指令及返回 + * 包含： + * 闯红灯预警 + * 行驶车道建议 + * 交通拥堵提醒 + * 道路危险状况提示 + * 超视距弱势交通参与者提醒 + * 路口其他车辆闯红灯预警 + * 障碍物(路面遗撒)预警 + * 能见度预警 + * + * @param advicePojo + */ + private void parseCloud2VehAdviceComRsi(MessagePad.Header header, AdvicePojo advicePojo, OnAdasListener adasListener) { + ByteBuffer info = ByteBuffer.wrap(advicePojo.adviceData); + //有效标识 + int rsisNum = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + rsisNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, info.remaining() + "交通事件和交通标志信息数量：" + rsisNum); + } else { + Log.w(TAG, "交通事件和交通标志信息数量 数据长度不足1个字节"); + } + AdviceComRsiInfo.Rsi[] rsis = null; + if (rsisNum > 0 && info.remaining() % rsisNum == 0) { + rsis = new AdviceComRsiInfo.Rsi[rsisNum]; + for (int i = 0; i < rsisNum; i++) { + rsis[i] = parseRsi(advicePojo.eventType, info); + } + } + AdviceComRsiInfo comRsiInfo = new AdviceComRsiInfo(rsisNum, rsis); + Log.i(TAG, comRsiInfo.toString()); + + if (adasListener != null) { + adasListener.onNdeCloudAdviceComRsi(header, advicePojo, comRsiInfo); + } + } + + private AdviceComRsiInfo.Rsi parseRsi(AdviceEventType adviceEventType, ByteBuffer info) { + //事件唯一标识 + String uuid = null; + if (info.remaining() >= 36) { + byte[] first36Bytes = new byte[36]; + info.get(first36Bytes, 0, 36); + uuid = new String(first36Bytes, StandardCharsets.UTF_8); + Log.i(TAG, "事件唯一标识：" + uuid); + } else { + Log.w(TAG, "事件唯一标识 数据长度不足36个字节"); + } + //事件生成时间戳 + long timestamp = Long.MIN_VALUE; + if (info.remaining() >= 8) { + timestamp = getUnsignedLong(info); + Log.i(TAG, "事件生成时间戳：" + timestamp); + } else { + Log.w(TAG, "事件生成时间戳 数据长度不足8个字节"); + } + //交通事件位置点 + Position eventPosition = null; + if (info.remaining() >= 12) { + eventPosition = new Position(getUnsignedInt(info), getUnsignedInt(info), getUnsignedInt(info)); + Log.i(TAG, "交通事件位置点：" + eventPosition); + } else { + Log.w(TAG, "交通事件位置点 数据长度不足12个字节"); + } + //道路交通事件信息类型 + int eventType = Integer.MIN_VALUE; + if (info.remaining() >= 2) { + eventType = getUnsignedShort(info); + Log.i(TAG, "道路交通事件信息类型：" + eventType); + } else { + Log.w(TAG, "道路交通事件信息类型 数据长度不足2个字节"); + } + //事件来源 + int eventSource = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + eventSource = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "事件来源：" + eventSource); + } else { + Log.w(TAG, "事件来源 数据长度不足1个字节"); + } + //事件（影响）半径 + double eventRadius = Double.MIN_VALUE; + if (info.remaining() >= 2) { + eventRadius = getUnsignedShort(info) / 10.0D; + Log.i(TAG, "事件（影响）半径：" + eventRadius); + } else { + Log.w(TAG, "事件（影响）半径 数据长度不足2个字节"); + } + //关联路段数量 + int referenceLinksNum = Integer.MIN_VALUE; + AdviceComRsiInfo.Rsi.ReferenceLink[] referenceLinks = null; + if (info.remaining() >= 2) { + referenceLinksNum = getUnsignedShort(info); + Log.i(TAG, "关联路段数量：" + referenceLinksNum); + if (referenceLinksNum > 0) { + referenceLinks = new AdviceComRsiInfo.Rsi.ReferenceLink[referenceLinksNum]; + for (int i = 0; i < referenceLinksNum; i++) { + int upstreamNodeId = Integer.MIN_VALUE; + if (info.remaining() >= 4) { + upstreamNodeId = getUnsignedInt(info); + } + int downstreamNodeId = Integer.MIN_VALUE; + if (info.remaining() >= 4) { + downstreamNodeId = getUnsignedInt(info); + } + int referenceLanesNum = Integer.MIN_VALUE; + int[] referenceLanes = null; + if (info.remaining() >= 1) { + referenceLanesNum = ByteUtil.get8bitUnsignedValue(info.get()); + if (referenceLanesNum > 0 && info.remaining() >= referenceLanesNum) { + referenceLanes = new int[referenceLanesNum]; + for (int j = 0; j < referenceLanesNum; j++) { + referenceLanes[j] = ByteUtil.get8bitUnsignedValue(info.get()); + } + } + } + referenceLinks[i] = new AdviceComRsiInfo.Rsi.ReferenceLink(upstreamNodeId, downstreamNodeId, referenceLanesNum, referenceLanes); + } + } + } else { + Log.w(TAG, "关联路段数量 数据长度不足2个字节"); + } + //优先级 + int priority = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + priority = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "优先级：" + priority); + } else { + Log.w(TAG, "优先级 数据长度不足1个字节"); + } + //交通事件/标志作用中心线坐标点 + Position alertPath = null; + if (info.remaining() >= 12) { + alertPath = new Position(getUnsignedInt(info), getUnsignedInt(info), getUnsignedInt(info)); + Log.i(TAG, "交通事件/标志作用中心线坐标点：" + alertPath); + } else { + Log.w(TAG, "交通事件/标志作用中心线坐标点 数据长度不足12个字节"); + } + //交通标志/事件作用中心线范围半径 + double pathRadius = Double.MIN_VALUE; + if (info.remaining() >= 2) { + pathRadius = getUnsignedShort(info) / 10.0D; + Log.i(TAG, "交通标志/事件作用中心线范围半径：" + pathRadius); + } else { + Log.w(TAG, "交通标志/事件作用中心线范围半径 数据长度不足2个字节"); + } + //事件状态 + int status = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + status = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "事件状态：" + status); + } else { + Log.w(TAG, "事件状态 数据长度不足1个字节"); + } + //自定义内容长度 + int userDefinedDataLength = Integer.MIN_VALUE; + if (info.remaining() >= 2) { + userDefinedDataLength = getUnsignedShort(info); + Log.i(TAG, "自定义内容长度：" + userDefinedDataLength); + } else { + Log.w(TAG, "自定义内容长度 数据长度不足2个字节"); + } + //自定义内容 + String userDefinedData = null; + AdviceRsiLightWarningInfo adviceRsiLightWarningInfo = null; + AdviceRsiRoadDangerHintInfo adviceRsiRoadDangerHintInfo = null; + AdviceRsiLaneProposalInfo adviceRsiLaneProposalInfo = null; + AdviceRsiOtherCarBreakReadWarningInfo adviceRsiOtherCarBreakReadWarningInfo = null; + AdviceRsiTrafficJamInfo adviceRsiTrafficJamInfo = null; + AdviceRsiOverSightDistanceInfo adviceRsiOverSightDistanceInfo = null; + AdviceRsiVisibilityInfo adviceRsiVisibilityInfo = null; + AdviceRsiAbandonInfo adviceRsiAbandonInfo = null; + int userDefinedDataLengthTemp = info.remaining(); + if (userDefinedDataLength > 0 && userDefinedDataLengthTemp >= userDefinedDataLength) { + RsiCloudDecisionEventType cloudDecisionEventType = RsiCloudDecisionEventType.getType(eventType); + if (adviceEventType == AdviceEventType.CLOUD_DECISION && cloudDecisionEventType == RsiCloudDecisionEventType.RED_LIGHT_RUNNING_WARNING) { + adviceRsiLightWarningInfo = parseAdviceRsiLightWarningInfo(info); + } else if (adviceEventType == AdviceEventType.CLOUD_DECISION && (cloudDecisionEventType == RsiCloudDecisionEventType.ROAD_HAZARD_ALERT_SERVICE_6021 || cloudDecisionEventType == RsiCloudDecisionEventType.ROAD_HAZARD_ALERT_SERVICE_6022)) { + adviceRsiRoadDangerHintInfo = parseAdviceRsiRoadDangerHintInfo(info); + } else if (adviceEventType == AdviceEventType.CLOUD_DECISION && (cloudDecisionEventType == RsiCloudDecisionEventType.DRIVING_LANE_SUGGESTION_6031 || cloudDecisionEventType == RsiCloudDecisionEventType.DRIVING_LANE_SUGGESTION_6032)) { + adviceRsiLaneProposalInfo = parseAdviceRsiLaneProposalInfo(info); + } else if (adviceEventType == AdviceEventType.CLOUD_DECISION && cloudDecisionEventType == RsiCloudDecisionEventType.INTERSECTION_RED_LIGHT_WARNING) { + adviceRsiOtherCarBreakReadWarningInfo = parseAdviceRsiOtherCarBreakReadWarningInfo(info); + } else if (adviceEventType == AdviceEventType.CLOUD_DECISION && cloudDecisionEventType == RsiCloudDecisionEventType.TRAFFIC_CONGESTION_ALERT) { + adviceRsiTrafficJamInfo = parseAdviceRsiTrafficJamInfo(info); + } else if (adviceEventType == AdviceEventType.CLOUD_DECISION && cloudDecisionEventType == RsiCloudDecisionEventType.OVER_THE_HORIZON_VULNERABLE_ROAD_USER_WARNING) { + adviceRsiOverSightDistanceInfo = parseAdviceRsiOverSightDistanceInfo(info); + } else if (adviceEventType == AdviceEventType.CLOUD_DECISION && cloudDecisionEventType == RsiCloudDecisionEventType.VISIBILITY_WARNING) { + adviceRsiVisibilityInfo = parseAdviceRsiVisibilityInfo(info); + } else if (adviceEventType == AdviceEventType.CLOUD_DECISION && cloudDecisionEventType == RsiCloudDecisionEventType.ROAD_DEBRIS_WARNING) { + adviceRsiAbandonInfo = parseAdviceRsiAbandonInfo(info); + } else { + byte[] bytes = new byte[userDefinedDataLength]; + info.get(bytes, 0, userDefinedDataLength); + userDefinedData = new String(bytes, StandardCharsets.UTF_8); + } + Log.i(TAG, "自定义内容：" + uuid); + } else { + Log.w(TAG, "自定义内容 自定义内容长度：" + userDefinedDataLength + " 剩余字节个数：" + userDefinedDataLengthTemp); + } + return new AdviceComRsiInfo.Rsi(uuid, timestamp, eventPosition, adviceEventType, eventType, eventSource, eventRadius, referenceLinksNum, referenceLinks, priority, alertPath, pathRadius, status, userDefinedDataLength, userDefinedData, adviceRsiLightWarningInfo, adviceRsiRoadDangerHintInfo, adviceRsiLaneProposalInfo, adviceRsiOtherCarBreakReadWarningInfo, adviceRsiTrafficJamInfo, adviceRsiOverSightDistanceInfo, adviceRsiVisibilityInfo, adviceRsiAbandonInfo); + } + + /** + * 解析 实时决策建议 rsi 闯红灯预警功能-扩展字段补充 + */ + private AdviceRsiLightWarningInfo parseAdviceRsiLightWarningInfo(ByteBuffer info) { + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + //车辆所在位置到停止线的距离 + double d2StopLine = Double.MIN_VALUE; + if (info.remaining() >= 2) { + d2StopLine = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "车辆所在位置到停止线的距离：" + d2StopLine); + } else { + Log.w(TAG, "车辆所在位置到停止线的距离 数据长度不足2个字节"); + } + //预警相位个数 + int numPhase = Integer.MIN_VALUE; + int[] spatWarning = null; + if (info.remaining() >= 1) { + numPhase = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "预警相位个数：" + numPhase); + } else { + Log.w(TAG, "预警相位个数 数据长度不足1个字节"); + } + if (numPhase > 0 && info.remaining() >= numPhase) { + spatWarning = new int[numPhase]; + for (int z = 0; z < numPhase; z++) { + spatWarning[z] = ByteUtil.get8bitUnsignedValue(info.get()); + } + } + //预警方向相位ID + int phaseId = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + phaseId = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "预警方向相位ID：" + phaseId); + } else { + Log.w(TAG, "预警方向相位ID 数据长度不足1个字节"); + } + //预警类型 + int warningType = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + warningType = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "预警类型：" + warningType); + } else { + Log.w(TAG, "预警类型 数据长度不足1个字节"); + } + return new AdviceRsiLightWarningInfo(valid, d2StopLine, numPhase, spatWarning, phaseId, warningType); + } + + /** + * 解析 实时决策建议 rsi 道路危险状况提示服务功能-扩展字段补充 + */ + private AdviceRsiRoadDangerHintInfo parseAdviceRsiRoadDangerHintInfo(ByteBuffer info) { + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + //危险事件编码 + int alterType = Integer.MIN_VALUE; + if (info.remaining() >= 2) { + alterType = getUnsignedShort(info); + Log.i(TAG, "危险事件编码：" + alterType); + } else { + Log.w(TAG, "危险事件编码 数据长度不足2个字节"); + } + //受事件影响不能通行的车道数量 + int laneOfEventNum = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + laneOfEventNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "受事件影响不能通行的车道数量：" + laneOfEventNum); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + int[] laneOfEvent = null; + if (laneOfEventNum > 0 && info.remaining() >= laneOfEventNum) { + laneOfEvent = new int[laneOfEventNum]; + for (int a = 0; a < laneOfEventNum; a++) { + laneOfEvent[a] = ByteUtil.get8bitUnsignedValue(info.get()); + } + } + //车辆所在位置到停止线的距离 + double d2Event = Double.MIN_VALUE; + if (info.remaining() >= 2) { + d2Event = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "车辆所在位置到停止线的距离：" + d2Event); + } else { + Log.w(TAG, "车辆所在位置到停止线的距离 数据长度不足2个字节"); + } + //事件开始时间 + long startTime = Long.MIN_VALUE; + if (info.remaining() >= 8) { + startTime = getUnsignedLong(info); + Log.i(TAG, "事件开始时间：" + startTime); + } else { + Log.w(TAG, "事件开始时间 数据长度不足8个字节"); + } + //事件结束时间 + long endTime = Long.MIN_VALUE; + if (info.remaining() >= 8) { + endTime = getUnsignedLong(info); + Log.i(TAG, "事件结束时间：" + endTime); + } else { + Log.w(TAG, "事件结束时间 数据长度不足8个字节"); + } + //点集合数量 + int boundPolyWktNum = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + boundPolyWktNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "点集合数量：" + boundPolyWktNum); + } else { + Log.w(TAG, "点集合数量 数据长度不足1个字节"); + } + Position[] boundPolyWkt = null; + if (boundPolyWktNum > 0 && info.remaining() >= boundPolyWktNum * 12) { + boundPolyWkt = new Position[boundPolyWktNum]; + for (int i = 0; i < boundPolyWktNum; i++) { + boundPolyWkt[i] = new Position(getUnsignedInt(info), getUnsignedInt(info), getUnsignedInt(info)); + } + } + return new AdviceRsiRoadDangerHintInfo(valid, alterType, laneOfEventNum, laneOfEvent, d2Event, startTime, endTime, boundPolyWktNum, boundPolyWkt); + } + + + /** + * 解析 实时决策建议 rsi 行驶车道建议功能-扩展字段补充 + */ + private AdviceRsiLaneProposalInfo parseAdviceRsiLaneProposalInfo(ByteBuffer info) { + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + + //建议目标车道数量 + int tagLaneDataNum = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + tagLaneDataNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "建议目标车道数量：" + tagLaneDataNum); + } else { + Log.w(TAG, "建议目标车道数量 数据长度不足1个字节"); + } + //建议目标车道信息 + AdviceRsiLaneProposalInfo.TagLaneData[] tagLaneData = null; + if (tagLaneDataNum > 0 && info.remaining() >= tagLaneDataNum) { + tagLaneData = new AdviceRsiLaneProposalInfo.TagLaneData[tagLaneDataNum]; + for (int i = 0; i < tagLaneDataNum; i++) { + tagLaneData[i] = new AdviceRsiLaneProposalInfo.TagLaneData(ByteUtil.get8bitUnsignedValue(info.get()), getUnsignedInt(info)); + } + } + //当前车道序号 + int curLaneSeq = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + curLaneSeq = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "当前车道序号：" + curLaneSeq); + } else { + Log.w(TAG, "当前车道序号 数据长度不足1个字节"); + } + //当前车道road序号 + int curRoadSeq = Integer.MIN_VALUE; + if (info.remaining() >= 4) { + curRoadSeq = getUnsignedInt(info); + Log.i(TAG, "当前车道road序号：" + curRoadSeq); + } else { + Log.w(TAG, "当前车道road序号 数据长度不足4个字节"); + } + //车道转向 + int directionType = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + directionType = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "车道转向：" + directionType); + } else { + Log.w(TAG, "车道转向 数据长度不足1个字节"); + } + //变道方向 + int laneChgType = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + laneChgType = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "变道方向：" + laneChgType); + } else { + Log.w(TAG, "车道转向 数据长度不足1个字节"); + } + return new AdviceRsiLaneProposalInfo(valid, tagLaneDataNum, tagLaneData, curLaneSeq, curRoadSeq, directionType, laneChgType); + } + + + /** + * 解析 实时决策建议 rsi 路口其他车辆闯红灯预警功能-扩展字段补充 + */ + private AdviceRsiOtherCarBreakReadWarningInfo parseAdviceRsiOtherCarBreakReadWarningInfo(ByteBuffer info) { + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + //车辆所在位置到停止线的距离 + double d2StopLine = Double.MIN_VALUE; + if (info.remaining() >= 2) { + d2StopLine = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "车辆所在位置到停止线的距离：" + d2StopLine); + } else { + Log.w(TAG, "车辆所在位置到停止线的距离 数据长度不足2个字节"); + } + //预警相位个数 + int numPhase = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + numPhase = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "预警相位个数：" + numPhase); + } else { + Log.w(TAG, "预警相位个数 数据长度不足1个字节"); + } + //预警相位 + int[] spatWaring = null; + if (numPhase > 0 && info.remaining() >= numPhase) { + spatWaring = new int[numPhase]; + for (int i = 0; i < numPhase; i++) { + spatWaring[i] = ByteUtil.get8bitUnsignedValue(info.get()); + } + } + //预警方向相位ID + int phaseId = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + phaseId = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "预警方向相位ID：" + phaseId); + } else { + Log.w(TAG, "预警方向相位ID 数据长度不足1个字节"); + } + //预警类型 + int warningType = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + warningType = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "预警类型：" + warningType); + } else { + Log.w(TAG, "预警类型 数据长度不足1个字节"); + } + //目标车辆数量 + int objectiveNum = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + objectiveNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "目标车辆数量：" + objectiveNum); + } else { + Log.w(TAG, "目标车辆数量 数据长度不足1个字节"); + } + AdviceRsiOtherCarBreakReadWarningInfo.OtherCar[] objective = null; + if (objectiveNum > 0 && info.remaining() >= objectiveNum * 51) { + objective = new AdviceRsiOtherCarBreakReadWarningInfo.OtherCar[objectiveNum]; + for (int i = 0; i < objectiveNum; i++) { + byte[] bytes = new byte[36]; + info.get(bytes, 0, 36); + String uuid = new String(bytes, StandardCharsets.UTF_8); + objective[i] = new AdviceRsiOtherCarBreakReadWarningInfo.OtherCar(uuid, + ByteUtil.get8bitUnsignedValue(info.get()), + getUnsignedShort(info) / 100.D, + getUnsignedInt(info), + getUnsignedInt(info), + getUnsignedInt(info)); + } + } + return new AdviceRsiOtherCarBreakReadWarningInfo(valid, d2StopLine, numPhase, spatWaring, phaseId, warningType, objectiveNum, objective); + } + + /** + * 解析 实时决策建议 rsi 交通拥堵提醒功能-扩展字段补充 + */ + private AdviceRsiTrafficJamInfo parseAdviceRsiTrafficJamInfo(ByteBuffer info) { + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + //dis2start + double dis2start = Double.MIN_VALUE; + if (info.remaining() >= 2) { + dis2start = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "dis2start：" + dis2start); + } else { + Log.w(TAG, "dis2start 数据长度不足2个字节"); + } + //车道road序号数量 + int roadIdNum = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + roadIdNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "车道road序号数量：" + roadIdNum); + } else { + Log.w(TAG, "车道road序号数量 数据长度不足1个字节"); + } + long[] roadIds = null; + if (roadIdNum > 0 && info.remaining() >= roadIdNum * 8) { + roadIds = new long[roadIdNum]; + for (int i = 0; i < roadIdNum; i++) { + roadIds[i] = getUnsignedLong(info); + } + } + //rsiLaneId + int rsiLaneId = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + rsiLaneId = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "rsiLaneId：" + rsiLaneId); + } else { + Log.w(TAG, "rsiLaneId 数据长度不足1个字节"); + } + //异常车辆的行驶速度 + double vaLane = Double.MIN_VALUE; + if (info.remaining() >= 2) { + vaLane = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "异常车辆的行驶速度：" + vaLane); + } else { + Log.w(TAG, "异常车辆的行驶速度 数据长度不足2个字节"); + } + //queueLength + double queueLength = Double.MIN_VALUE; + if (info.remaining() >= 2) { + queueLength = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "异常车辆的行驶速度：" + queueLength); + } else { + Log.w(TAG, "queueLength 数据长度不足2个字节"); + } + //拥堵程度 + int eventLevel = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + eventLevel = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "拥堵程度：" + eventLevel); + } else { + Log.w(TAG, "拥堵程度 数据长度不足1个字节"); + } + return new AdviceRsiTrafficJamInfo(valid, dis2start, roadIdNum, roadIds, rsiLaneId, vaLane, queueLength, eventLevel); + } + + /** + * 解析 实时决策建议 rsi 超视距弱势交通参与者预警功能-扩展字段补充 + */ + private AdviceRsiOverSightDistanceInfo parseAdviceRsiOverSightDistanceInfo(ByteBuffer info) { + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + //弱势交通参与者类型 + int type = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + type = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "弱势交通参与者类型：" + type); + } else { + Log.w(TAG, "弱势交通参与者类型 数据长度不足1个字节"); + } + //异常车辆的行驶速度 + double velocity = Double.MIN_VALUE; + if (info.remaining() >= 2) { + velocity = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "异常车辆的行驶速度：" + velocity); + } else { + Log.w(TAG, "异常车辆的行驶速度 数据长度不足2个字节"); + } + //异常车辆的航向角 + int heading = Integer.MIN_VALUE; + if (info.remaining() >= 4) { + heading = getUnsignedInt(info); + Log.i(TAG, "异常车辆的航向角：" + heading); + } else { + Log.w(TAG, "异常车辆的航向角 数据长度不足4个字节"); + } + //distance + double distance = Double.MIN_VALUE; + if (info.remaining() >= 2) { + distance = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "distance：" + distance); + } else { + Log.w(TAG, "distance 数据长度不足2个字节"); + } + return new AdviceRsiOverSightDistanceInfo(valid, type, velocity, heading, distance); + } + + /** + * 解析 实时决策建议 rsi 能见度预警功能-扩展字段补充 + */ + private AdviceRsiVisibilityInfo parseAdviceRsiVisibilityInfo(ByteBuffer info) { + //决策建议消息的生成与消散 + double visibilityDis = Double.MIN_VALUE; + if (info.remaining() >= 1) { + visibilityDis = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "决策建议消息的生成与消散：" + visibilityDis); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + return new AdviceRsiVisibilityInfo(visibilityDis, valid); + } + + /** + * 解析 实时决策建议 rsi 路面遗撒预警功能-扩展字段补充 + */ + private AdviceRsiAbandonInfo parseAdviceRsiAbandonInfo(ByteBuffer info) { + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + //路面遗撒事件特征物的长度 + double len = Double.MIN_VALUE; + if (info.remaining() >= 2) { + len = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "路面遗撒事件特征物的长度：" + len); + } else { + Log.w(TAG, "路面遗撒事件特征物的长度 数据长度不足2个字节"); + } + //路面遗撒事件特征物的宽度 + double width = Double.MIN_VALUE; + if (info.remaining() >= 2) { + width = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "路面遗撒事件特征物的宽度：" + width); + } else { + Log.w(TAG, "路面遗撒事件特征物的宽度 数据长度不足2个字节"); + } + //路面遗撒事件特征物的高度 + double height = Double.MIN_VALUE; + if (info.remaining() >= 2) { + height = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "路面遗撒事件特征物的高度：" + height); + } else { + Log.w(TAG, "路面遗撒事件特征物的高度 数据长度不足2个字节"); + } + //障碍物所在车道对应的road车道编号 + long roadId = Long.MIN_VALUE; + if (info.remaining() >= 8) { + roadId = getUnsignedLong(info); + Log.i(TAG, "障碍物所在车道对应的road车道编号：" + roadId); + } else { + Log.w(TAG, "障碍物所在车道对应的road车道编号 数据长度不足8个字节"); + } + //异常车辆所在车道 + int laneId = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + laneId = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "异常车辆所在车道：" + laneId); + } else { + Log.w(TAG, "异常车辆所在车道 数据长度不足1个字节"); + } + //受事件影响不能通行车道数量 + int laneOfEventNum = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + laneOfEventNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "受事件影响不能通行车道数量：" + laneOfEventNum); + } else { + Log.w(TAG, "受事件影响不能通行车道数量 数据长度不足1个字节"); + } + int[] lanOfEvent = null; + if (laneOfEventNum > 0 && info.remaining() >= laneOfEventNum) { + lanOfEvent = new int[laneOfEventNum]; + for (int i = 0; i < laneOfEventNum; i++) { + lanOfEvent[i] = ByteUtil.get8bitUnsignedValue(info.get()); + } + } + //事件影响范围数量 + int boundPolyWktNum = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + boundPolyWktNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "事件影响范围数量：" + boundPolyWktNum); + } else { + Log.w(TAG, "事件影响范围数量 数据长度不足1个字节"); + } + Position[] boundPolyWkt = null; + if (boundPolyWktNum > 0 && info.remaining() >= boundPolyWktNum * 12) { + boundPolyWkt = new Position[boundPolyWktNum]; + for (int i = 0; i < boundPolyWktNum; i++) { + boundPolyWkt[i] = new Position(getUnsignedInt(info), getUnsignedInt(info), getUnsignedInt(info)); + } + } + //距离 + double distance = Double.MIN_VALUE; + if (info.remaining() >= 2) { + distance = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "距离：" + distance); + } else { + Log.w(TAG, "距离 数据长度不足2个字节"); + } + return new AdviceRsiAbandonInfo(valid, len, width, height, roadId, laneId, laneOfEventNum, lanOfEvent, boundPolyWktNum, boundPolyWkt, distance); + } + + /** + * 8.5.12 紧急车辆预警指令及返回 + * + * @param advicePojo + */ + private void parseCloud2VehAdviceEvw(MessagePad.Header header, AdvicePojo advicePojo, OnAdasListener adasListener) { + ByteBuffer info = ByteBuffer.wrap(advicePojo.adviceData); + //事件唯一标识 + String uuid = null; + if (info.remaining() >= 36) { + byte[] first36Bytes = new byte[36]; + info.get(first36Bytes, 0, 36); + uuid = new String(first36Bytes, StandardCharsets.UTF_8); + Log.i(TAG, "事件唯一标识：" + uuid); + } else { + Log.w(TAG, "事件唯一标识 数据长度不足36个字节"); + } + //事件生成时间戳 + long timestamp = Long.MIN_VALUE; + if (info.remaining() >= 8) { + timestamp = getUnsignedLong(info); + Log.i(TAG, "事件生成时间戳：" + timestamp); + } else { + Log.w(TAG, "事件生成时间戳 数据长度不足8个字节"); + } + //告警类型 + int alertType = Integer.MIN_VALUE; + if (info.remaining() >= 2) { + alertType = getUnsignedShort(info); + Log.i(TAG, "告警类型：" + alertType); + } else { + Log.w(TAG, "告警类型 数据长度不足2个字节"); + } + //告警半径 + double alertRadius = Double.MIN_VALUE; + if (info.remaining() >= 2) { + alertRadius = getUnsignedShort(info) / 10.0D; + Log.i(TAG, "告警半径：" + alertRadius); + } else { + Log.w(TAG, "告警半径 数据长度不足2个字节"); + } + //路径点数量 + int pointNum = Integer.MIN_VALUE; + //告警路径 + Position[] positions = null; + if (info.remaining() >= 1) { + pointNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "路径点数量：" + pointNum); + if (pointNum > 0 && info.remaining() >= pointNum * 12) { + positions = new Position[pointNum]; + for (int i = 0; i < pointNum; i++) { + positions[i] = new Position(getUnsignedInt(info), getUnsignedInt(info), getUnsignedInt(info)); + } + } + } else { + Log.w(TAG, "路径点数量 数据长度不足2个字节"); + } + //车辆类型 + int type = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + type = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "车辆类型：" + type); + } else { + Log.w(TAG, "车辆类型 数据长度不足1个字节"); + } + //车速 + double velocity = Double.MIN_VALUE; + if (info.remaining() >= 2) { + velocity = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "车速：" + velocity); + } else { + Log.w(TAG, "车速 数据长度不足2个字节"); + } + //航向角 + double heading = Double.MIN_VALUE; + if (info.remaining() >= 4) { + heading = getUnsignedInt(info) / 10000.0D; + Log.i(TAG, "航向角：" + heading); + } else { + Log.w(TAG, "航向角 数据长度不足4个字节"); + } + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + //紧急车辆位置 + Position position = null; + if (info.remaining() >= 12) { + position = new Position(getUnsignedInt(info), getUnsignedInt(info), getUnsignedInt(info)); + Log.i(TAG, "紧急车辆位置：" + position); + } else { + Log.w(TAG, "紧急车辆位置 数据长度不足12个字节"); + } + AdviceEvwInfo adviceEvwInfo = new AdviceEvwInfo(uuid, timestamp, alertType, alertRadius, pointNum, positions, type, velocity, heading, valid, position); + Log.i(TAG, adviceEvwInfo.toString()); + if (adasListener != null) { + adasListener.onNdeCloudAdviceEvw(header, advicePojo, adviceEvwInfo); + } + } + + /** + * 8.5.8 动态车道级限速指令及返回 + * + * @param advicePojo + */ + private void parseCloud2VehAdviceLaneSpdLmt(MessagePad.Header header, AdvicePojo advicePojo, OnAdasListener adasListener) { + ByteBuffer info = ByteBuffer.wrap(advicePojo.adviceData); + //事件唯一标识 + String uuid = null; + if (info.remaining() >= 36) { + byte[] first36Bytes = new byte[36]; + info.get(first36Bytes, 0, 36); + uuid = new String(first36Bytes, StandardCharsets.UTF_8); + Log.i(TAG, "事件唯一标识：" + uuid); + } else { + Log.w(TAG, "事件唯一标识 数据长度不足36个字节"); + } + //事件生成时间戳 + long timestamp = Long.MIN_VALUE; + if (info.remaining() >= 8) { + timestamp = getUnsignedLong(info); + Log.i(TAG, "事件生成时间戳：" + timestamp); + } else { + Log.w(TAG, "事件生成时间戳 数据长度不足8个字节"); + } + //告警类型 + int alertType = Integer.MIN_VALUE; + if (info.remaining() >= 2) { + alertType = getUnsignedShort(info); + Log.i(TAG, "告警类型：" + alertType); + } else { + Log.w(TAG, "告警类型 数据长度不足2个字节"); + } + //告警半径 + double alertRadius = Double.MIN_VALUE; + if (info.remaining() >= 2) { + alertRadius = getUnsignedShort(info) / 10.0D; + Log.i(TAG, "告警半径：" + alertRadius); + } else { + Log.w(TAG, "告警半径 数据长度不足2个字节"); + } + //路径点数量 + int pointNum = Integer.MIN_VALUE; + //告警路径 + Position[] positions = null; + if (info.remaining() >= 1) { + pointNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "路径点数量：" + pointNum); + if (pointNum > 0 && info.remaining() >= pointNum * 12) { + positions = new Position[pointNum]; + for (int i = 0; i < pointNum; i++) { + positions[i] = new Position(getUnsignedInt(info), getUnsignedInt(info), getUnsignedInt(info)); + } + } + } else { + Log.w(TAG, "路径点数量 数据长度不足1个字节"); + } + //车道数量 + int laneNum = Integer.MIN_VALUE; + //限速数据 + SpeedLimit[] speedLimits = null; + if (info.remaining() >= 1) { + laneNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "车道数量：" + laneNum); + if (laneNum > 0 && info.remaining() >= laneNum * 2) { + speedLimits = new SpeedLimit[laneNum]; + for (int i = 0; i < laneNum; i++) { + speedLimits[i] = new SpeedLimit(ByteUtil.get8bitUnsignedValue(info.get()), ByteUtil.get8bitUnsignedValue(info.get())); + } + } + } else { + Log.w(TAG, "车道数量 数据长度不足1个字节"); + } + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + AdviceLaneSpdLmtInfo laneSpdLmtInfo = new AdviceLaneSpdLmtInfo(uuid, timestamp, alertType, alertRadius, pointNum, positions, laneNum, speedLimits, valid); + Log.i(TAG, laneSpdLmtInfo.toString()); + if (adasListener != null) { + adasListener.onNdeCloudAdviceLaneSpdLmt(header, advicePojo, laneSpdLmtInfo); + } + } + + /** + * 8.5.11 异常车辆预警指令及返回 + * + * @param advicePojo + */ + private void parseCloud2VehAdviceAvw(MessagePad.Header header, AdvicePojo advicePojo, OnAdasListener adasListener) { + ByteBuffer info = ByteBuffer.wrap(advicePojo.adviceData); + //事件唯一标识 + String uuid = null; + if (info.remaining() >= 36) { + byte[] first36Bytes = new byte[36]; + info.get(first36Bytes, 0, 36); + uuid = new String(first36Bytes, StandardCharsets.UTF_8); + Log.i(TAG, "事件唯一标识：" + uuid); + } else { + Log.w(TAG, "事件唯一标识 数据长度不足36个字节"); + } + //事件生成时间戳 + long timestamp = Long.MIN_VALUE; + if (info.remaining() >= 8) { + timestamp = getUnsignedLong(info); + Log.i(TAG, "事件生成时间戳：" + timestamp); + } else { + Log.w(TAG, "事件生成时间戳 数据长度不足8个字节"); + } + //告警类型 + int alertType = Integer.MIN_VALUE; + if (info.remaining() >= 2) { + alertType = getUnsignedShort(info); + Log.i(TAG, "告警类型：" + alertType); + } else { + Log.w(TAG, "告警类型 数据长度不足2个字节"); + } + //告警半径 + double alertRadius = Double.MIN_VALUE; + if (info.remaining() >= 2) { + alertRadius = getUnsignedShort(info) / 10.0D; + Log.i(TAG, "告警半径：" + alertRadius); + } else { + Log.w(TAG, "告警半径 数据长度不足2个字节"); + } + //路径点数量 + int pointNum = Integer.MIN_VALUE; + //告警路径 + Position[] positions = null; + if (info.remaining() >= 1) { + pointNum = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "路径点数量：" + pointNum); + if (pointNum > 0 && info.remaining() >= pointNum * 12) { + positions = new Position[pointNum]; + for (int i = 0; i < pointNum; i++) { + positions[i] = new Position(getUnsignedInt(info), getUnsignedInt(info), getUnsignedInt(info)); + } + } + } else { + Log.w(TAG, "路径点数量 数据长度不足2个字节"); + } + //车速 + double velocity = Double.MIN_VALUE; + if (info.remaining() >= 2) { + velocity = getUnsignedShort(info) / 100.0D; + Log.i(TAG, "车速：" + velocity); + } else { + Log.w(TAG, "车速 数据长度不足2个字节"); + } + //航向角 + double heading = Double.MIN_VALUE; + if (info.remaining() >= 4) { + heading = getUnsignedInt(info) / 10000.0D; + Log.i(TAG, "航向角：" + heading); + } else { + Log.w(TAG, "航向角 数据长度不足4个字节"); + } + //事件状态 ---提醒指令的事件状态 + int status = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + status = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "提醒指令的事件状态：" + status); + } else { + Log.w(TAG, "提醒指令的事件状态 数据长度不足1个字节"); + } + //决策建议消息的生成与消散 + int valid = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + valid = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "决策建议消息的生成与消散：" + valid); + } else { + Log.w(TAG, "决策建议消息的生成与消散 数据长度不足1个字节"); + } + //异常车辆所在车道 + int rsiLaneId = Integer.MIN_VALUE; + if (info.remaining() >= 1) { + rsiLaneId = ByteUtil.get8bitUnsignedValue(info.get()); + Log.i(TAG, "异常车辆所在车道：" + rsiLaneId); + } else { + Log.w(TAG, "异常车辆所在车道 数据长度不足1个字节"); + } + //当前车道road序号 + int roadId = Integer.MIN_VALUE; + if (info.remaining() >= 4) { + roadId = getUnsignedInt(info); + Log.i(TAG, "当前车道road序号：" + roadId); + } else { + Log.w(TAG, "当前车道road序号 数据长度不足4个字节"); + } + //距离 + double distance = Double.MIN_VALUE; + if (info.remaining() >= 2) { + distance = getUnsignedShort(info) / 10.0D; + Log.i(TAG, "距离：" + distance); + } else { + Log.w(TAG, "距离 数据长度不足2个字节"); + } + //异常车辆目标物体uuid + String objectId = null; + if (info.remaining() >= 36) { + byte[] bytes = new byte[36]; + info.get(bytes, 0, 36); + objectId = new String(bytes, StandardCharsets.UTF_8); + Log.i(TAG, "异常车辆目标物体uuid：" + objectId); + } else { + Log.w(TAG, "异常车辆目标物体uuid 数据长度不足36个字节"); + } + AdviceAvwInfo avwInfo = new AdviceAvwInfo(uuid, timestamp, alertType, alertRadius, pointNum, positions, velocity, heading, status, valid, rsiLaneId, roadId, distance, objectId); + Log.i(TAG, avwInfo.toString()); + if (adasListener != null) { + adasListener.onNdeCloudAdviceAvw(header, advicePojo, avwInfo); + } + } + + /** + * 读取数据帧 + * 处理 分包粘包 + * + * @return 数据帧列表 + */ + private List readFrame() { + List packets = new ArrayList<>(); + while (true) { + // 如果剩余数据不足一个头部，则等待更多数据 + if (buffer.size() < HEADER_SIZE) { + break; + } + try { + // 检查标识位是否正确（应为 0xF2） + // 使用 getByte(index) 不会移动读取指针 + byte marker = buffer.getByte(0); + if (marker != (byte) 0xF2) { + // 如果不匹配，则跳过一个字节，直到找到标识位 + buffer.skip(1); + continue; + } + // 为了不提前消费数据，我们先拷贝头部信息进行判断 + // 这里取前5字节（标识位 + 数据段长度 4字节） + Buffer temp = new Buffer(); + buffer.copyTo(temp, 0, 5); + // 跳过标识位 + temp.skip(1); + // 读取4字节数据段长度（readInt 默认是大端序，注意协议约定，如果为小端需要调整） + int lengthInt = temp.readInt(); + // 将4字节无符号转换为 long + long payloadLength = lengthInt & 0xFFFFFFFFL; + // 整个报文总长度 = 头部长度 + 数据段长度 + long totalLength = HEADER_SIZE + payloadLength; + if (buffer.size() < totalLength) { + // 数据未完整到达，等待更多数据 + break; + } + + Buffer originalTemp = new Buffer(); + buffer.copyTo(originalTemp, 0, buffer.size()); + + // 解析一个完整的报文 + byte marker1 = buffer.readByte(); // 标识位（1字节） + int pl = buffer.readInt(); // 数据段长度（4字节） + long payloadLength1 = pl & 0xFFFFFFFFL; // 转为无符号 + byte dataType = buffer.readByte(); // 数据类别（1字节） + byte version = buffer.readByte(); // 版本号（1字节） + long timestamp = buffer.readLong(); // 时间戳（8字节） + byte control = buffer.readByte(); // 控制内容（1字节） + // 读取数据段内容（payloadLength 字节） + ByteString payload = buffer.readByteString(payloadLength1); +// byte[] payload = buffer.readByteArray(payloadLength1); + + byte[] original = originalTemp.readByteArray(HEADER_SIZE + payloadLength1); + // 将解析出的报文加入列表中 + packets.add(new Packet(original, marker1, payloadLength1, dataType, version, timestamp, control, payload)); + } catch (Exception e) { + Log.e(TAG, "云控数据解析异常", e); + } + } + return packets; + } + + + /** + * 云控数据 + */ + public static class Packet { + public final byte[] original; // 原始数据 + public final byte marker; // 标识位，应为0xF2 + public final long payloadLength; // 数据段长度（无符号4字节整数） + public final CloudDataType cloudDataType; // 数据类别 + public final byte version; // 版本号 + public final long timestamp; // 时间戳（8字节） + public final byte control; // 控制内容 + public final ByteString payload; // 数据段内容 + + + public Packet(byte[] originalData, byte marker, long payloadLength, byte dataType, byte version, long timestamp, byte control, ByteString payload) { + this.original = originalData; + this.marker = marker; + this.payloadLength = payloadLength; + this.cloudDataType = CloudDataType.getType(dataType); + this.version = version; + this.timestamp = timestamp; + this.control = control; + this.payload = payload; + } + + @NonNull + @Override + public String toString() { + return "Packet{" + + "原始数据=" + ByteUtil.byteArrToHex(original) + + ", 标识位=0x" + Integer.toHexString(marker & 0xFF) + + ", 负载数据长度=" + payloadLength + + ", 数据类型=" + cloudDataType + + ", 版本=" + (version & 0xFF) + + ", 时间戳=" + timestamp + + ", 控制=" + (control & 0xFF) + + ", 负载数据=" + (payload == null ? null : ByteUtil.byteArrToHex(payload.toByteArray())) + + '}'; + } + } + + private int getUnsignedByte(ByteBuffer data) { + return ByteUtil.get8bitUnsignedValue(data.get()); + } + + private int getUnsignedShort(ByteBuffer data) { + byte[] bytes = new byte[2]; + data.get(bytes, 0, 2); + return ByteUtil.get16bitUnsignedValue(0, bytes); + } + + private int getUnsignedInt(ByteBuffer data) { + byte[] bytes = new byte[4]; + data.get(bytes, 0, 4); + return (int) ByteUtil.get32bitUnsignedValue(0, bytes); + } + + private long getUnsignedLong(ByteBuffer data) { + byte[] bytes = new byte[8]; + data.get(bytes, 0, 8); + return ByteUtil.get64bitUnsignedValue(0, bytes); + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index 2ec41343d4..2105635501 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -56,6 +56,7 @@ public class MyMessageFactory implements IMyMessageFactory { private IMsg powerUnitMessage;//电源模块 private IMsg padSsmFuncMsgMessage;//SSM功能 private IMsg captureImgOnTakeOverMessage;//接管时前方和后方摄像头数据请求的响应 + private IMsg cloudControlMessage;//云控数据 private IMsg copyBagMessage;//数据落盘 private IMsg cloudConfigMessage;//云端配置 private IMsg imgUploadCloudStatusRespMessage;//摄像头上传NDE云状态响应 @@ -327,6 +328,12 @@ public class MyMessageFactory implements IMyMessageFactory { captureImgOnTakeOverMessage = new CaptureImgOnTakeOverMessage(); } return captureImgOnTakeOverMessage; + } else if (messageType == MessageType.TYPE_RECEIVE_CLOUD_CONTROL.typeCode) { + //云控数据 + if (cloudControlMessage == null) { + cloudControlMessage = new CloudControlMessage(); + } + return cloudControlMessage; } else if (messageType == MessageType.TYPE_RECEIVE_COPY_BAG.typeCode) { //数据落盘 if (copyBagMessage == null) {