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[8.4.0][司机屏] 无人化，任务管理相关逻辑

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This commit is contained in:
xinfengkun
2026-03-05 14:14:25 +08:00
parent 42d72654bd
commit 13c8808659
49 changed files with 2506 additions and 429 deletions
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2
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
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@@ -119,6 +119,8 @@ public enum MessageType {
TYPE_RECEIVE_OBU_UPLOAD_STATUS(MessagePad.MessageType.MsgTypeObuUploadStatus, R.string.adas_data_MsgTypeObuUploadStatus_RECEIVE),
TYPE_RECEIVE_PLANNING_STOP_LINE(MessagePad.MessageType.MsgTypePlanningStopLine, R.string.adas_data_MsgTypePlanningStopLine),
TYPE_RECEIVE_FSM_EVENT(MessagePad.MessageType.MsgTypeFsmEvent, R.string.adas_data_MsgTypeFsmEvent),
TYPE_SEND_TASK_MANAGER(MessagePad.MessageType.MsgTypeTaskMgrAndPad, R.string.adas_data_MsgTypeTaskMgrAndPad_SEND),
TYPE_RECEIVE_TASK_MANAGER(MessagePad.MessageType.MsgTypeTaskMgrAndPad, R.string.adas_data_MsgTypeTaskMgrAndPad_RECEIVE),
//TODO 透传原始pb文件中不存在以下type。由于Java中无法强转,所以在mogo-adas-data/message_pad.proto中放开注释
TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, R.string.adas_data_MsgTypePlanningDecisionState),

70
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/AutopilotPoint.java Normal file
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@@ -0,0 +1,70 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* 自动驾驶坐标点
*/
public class AutopilotPoint {
/**
* X坐标
*/
private double x;
/**
* Y坐标
*/
private double y;
public AutopilotPoint() {
}
public AutopilotPoint(double x, double y) {
this.x = x;
this.y = y;
}
public double getX() {
return x;
}
public void setX(double x) {
this.x = x;
}
public double getY() {
return y;
}
public void setY(double y) {
this.y = y;
}
@Override
public String toString() {
return "AutopilotPoint{" +
"x=" + x +
", y=" + y +
'}';
}
public static Builder builder() {
return new Builder();
}
public static class Builder {
private double x;
private double y;
public Builder x(double x) {
this.x = x;
return this;
}
public Builder y(double y) {
this.y = y;
return this;
}
public AutopilotPoint build() {
return new AutopilotPoint(x, y);
}
}
}

112
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/AutopilotStartRequest.java Normal file
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@@ -0,0 +1,112 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* app发送给车端
* 开启任务
*/
public class AutopilotStartRequest {
/**
* 任务ID
*/
private Long taskId;
/**
* 来源
*/
private Integer source;
/**
* 轨迹
*/
private Trajectory traj;
/**
* 任务类型
* 0: 多站点模式 1:固定路线
*/
private Integer taskType;
public AutopilotStartRequest() {
}
public AutopilotStartRequest(Long taskId, Integer source, Trajectory traj, Integer taskType) {
this.taskId = taskId;
this.source = source;
this.traj = traj;
this.taskType = taskType;
}
public Long getTaskId() {
return taskId;
}
public void setTaskId(Long taskId) {
this.taskId = taskId;
}
public Integer getSource() {
return source;
}
public void setSource(Integer source) {
this.source = source;
}
public Trajectory getTraj() {
return traj;
}
public void setTraj(Trajectory traj) {
this.traj = traj;
}
public Integer getTaskType() {
return taskType;
}
public void setTaskType(Integer taskType) {
this.taskType = taskType;
}
@Override
public String toString() {
return "AutopilotStartRequest{" +
"taskId=" + taskId +
", source=" + source +
", traj=" + traj +
", taskType=" + taskType +
'}';
}
public static Builder builder() {
return new Builder();
}
public static class Builder {
private Long taskId;
private Integer source;
private Trajectory traj;
private Integer taskType;
public Builder taskId(Long taskId) {
this.taskId = taskId;
return this;
}
public Builder source(Integer source) {
this.source = source;
return this;
}
public Builder traj(Trajectory traj) {
this.traj = traj;
return this;
}
public Builder taskType(Integer taskType) {
this.taskType = taskType;
return this;
}
public AutopilotStartRequest build() {
return new AutopilotStartRequest(taskId, source, traj, taskType);
}
}
}

131
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/CmdDto.java Normal file
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@@ -0,0 +1,131 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* 命令数据传输对象
* @param <T> 数据类型
*/
public class CmdDto<T> {
/**
* 命令类型
*/
private String cmdType;
/**
* 任务ID
*/
private Long taskId;
/**
* 轨迹ID
*/
private Long lineId;
/**
* 时间戳
*/
private Long timestamp;
/**
* 数据
*/
private T data;
public CmdDto() {
}
public CmdDto(String cmdType, Long taskId, Long lineId, Long timestamp, T data) {
this.cmdType = cmdType;
this.taskId = taskId;
this.lineId = lineId;
this.timestamp = timestamp;
this.data = data;
}
public String getCmdType() {
return cmdType;
}
public void setCmdType(String cmdType) {
this.cmdType = cmdType;
}
public Long getTaskId() {
return taskId;
}
public void setTaskId(Long taskId) {
this.taskId = taskId;
}
public Long getLineId() {
return lineId;
}
public void setLineId(Long lineId) {
this.lineId = lineId;
}
public Long getTimestamp() {
return timestamp;
}
public void setTimestamp(Long timestamp) {
this.timestamp = timestamp;
}
public T getData() {
return data;
}
public void setData(T data) {
this.data = data;
}
@Override
public String toString() {
return "CmdDto{" +
"cmdType='" + cmdType + '\'' +
", taskId=" + taskId +
", lineId=" + lineId +
", timestamp=" + timestamp +
", data=" + data +
'}';
}
public static <T> Builder<T> builder() {
return new Builder<>();
}
public static class Builder<T> {
private String cmdType;
private Long taskId;
private Long lineId;
private Long timestamp;
private T data;
public Builder<T> cmdType(String cmdType) {
this.cmdType = cmdType;
return this;
}
public Builder<T> taskId(Long taskId) {
this.taskId = taskId;
return this;
}
public Builder<T> lineId(Long lineId) {
this.lineId = lineId;
return this;
}
public Builder<T> timestamp(Long timestamp) {
this.timestamp = timestamp;
return this;
}
public Builder<T> data(T data) {
this.data = data;
return this;
}
public CmdDto<T> build() {
return new CmdDto<>(cmdType, taskId, lineId, timestamp, data);
}
}
}

76
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskAbortNotification.java Normal file
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@@ -0,0 +1,76 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* 车端主动发送
* 车端终止上报消息
*/
public class TaskAbortNotification {
/**
* 当前位置
*/
private VehicleSite curLocation;
/**
* 任务累计行驶距离
*/
private double accumulatedTaskDis;
/**
* 解决方案
*/
private String solution;
/**
* 错误消息
*/
private String errMsg;
public TaskAbortNotification() {
}
public TaskAbortNotification(VehicleSite curLocation, double accumulatedTaskDis, String solution, String errMsg) {
this.curLocation = curLocation;
this.accumulatedTaskDis = accumulatedTaskDis;
this.solution = solution;
this.errMsg = errMsg;
}
public VehicleSite getCurLocation() {
return curLocation;
}
public void setCurLocation(VehicleSite curLocation) {
this.curLocation = curLocation;
}
public double getAccumulatedTaskDis() {
return accumulatedTaskDis;
}
public void setAccumulatedTaskDis(double accumulatedTaskDis) {
this.accumulatedTaskDis = accumulatedTaskDis;
}
public String getSolution() {
return solution;
}
public void setSolution(String solution) {
this.solution = solution;
}
public String getErrMsg() {
return errMsg;
}
public void setErrMsg(String errMsg) {
this.errMsg = errMsg;
}
@Override
public String toString() {
return "TaskAbortNotification{" +
"curLocation=" + curLocation +
", accumulatedTaskDis=" + accumulatedTaskDis +
", solution='" + solution + '\'' +
", errMsg='" + errMsg + '\'' +
'}';
}
}

62
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskArrivalNotification.java Normal file
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@@ -0,0 +1,62 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* 车端主动发送
* 车端到站消息
*/
public class TaskArrivalNotification {
/**
* 当前位置
*/
private VehicleSite curLocation;
/**
* 站点
*/
private VehicleSite station;
/**
* 任务累计行驶距离
*/
private double accumulatedTaskDis;
public TaskArrivalNotification() {
}
public TaskArrivalNotification(VehicleSite curLocation, VehicleSite station, double accumulatedTaskDis) {
this.curLocation = curLocation;
this.station = station;
this.accumulatedTaskDis = accumulatedTaskDis;
}
public VehicleSite getCurLocation() {
return curLocation;
}
public void setCurLocation(VehicleSite curLocation) {
this.curLocation = curLocation;
}
public VehicleSite getStation() {
return station;
}
public void setStation(VehicleSite station) {
this.station = station;
}
public double getAccumulatedTaskDis() {
return accumulatedTaskDis;
}
public void setAccumulatedTaskDis(double accumulatedTaskDis) {
this.accumulatedTaskDis = accumulatedTaskDis;
}
@Override
public String toString() {
return "TaskArrivalNotification{" +
"curLocation=" + curLocation +
", station=" + station +
", accumulatedTaskDis=" + accumulatedTaskDis +
'}';
}
}

61
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskCancelResponse.java Normal file
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@@ -0,0 +1,61 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* 任务取消响应
*/
public class TaskCancelResponse {
/**
* 任务累计行驶距离
*/
private double accumulatedTaskDis;
/**
* 任务取消结果，true:成功 false:失败
*/
private boolean result;
/**
* 任务取消失败原因 （目前仅超时5秒未退出自驾）
*/
private String errMsg;
public TaskCancelResponse() {
}
public TaskCancelResponse(double accumulatedTaskDis, boolean result, String errMsg) {
this.accumulatedTaskDis = accumulatedTaskDis;
this.result = result;
this.errMsg = errMsg;
}
public double getAccumulatedTaskDis() {
return accumulatedTaskDis;
}
public void setAccumulatedTaskDis(double accumulatedTaskDis) {
this.accumulatedTaskDis = accumulatedTaskDis;
}
public boolean isResult() {
return result;
}
public void setResult(boolean result) {
this.result = result;
}
public String getErrMsg() {
return errMsg;
}
public void setErrMsg(String errMsg) {
this.errMsg = errMsg;
}
@Override
public String toString() {
return "TaskCancelResponse{" +
"accumulatedTaskDis=" + accumulatedTaskDis +
", result=" + result +
", errMsg='" + errMsg + '\'' +
'}';
}
}

51
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskContinueNotification.java Normal file
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@@ -0,0 +1,51 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* App发送给车端
* 离开站点
*/
public class TaskContinueNotification {
/**
* 当前站点
*/
private VehicleSite curStation;
public TaskContinueNotification() {
}
public TaskContinueNotification(VehicleSite curStation) {
this.curStation = curStation;
}
public VehicleSite getCurStation() {
return curStation;
}
public void setCurStation(VehicleSite curStation) {
this.curStation = curStation;
}
@Override
public String toString() {
return "TaskContinueNotification{" +
"curStation=" + curStation +
'}';
}
public static Builder builder() {
return new Builder();
}
public static class Builder {
private VehicleSite curStation;
public Builder curStation(VehicleSite curStation) {
this.curStation = curStation;
return this;
}
public TaskContinueNotification build() {
return new TaskContinueNotification(curStation);
}
}
}

14
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskFinishNotification.java Normal file
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@@ -0,0 +1,14 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* 任务完成通知
*/
public class TaskFinishNotification {
public TaskFinishNotification() {
}
@Override
public String toString() {
return "TaskFinishNotification{}";
}
}

14
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskLocationQueryRequest.java Normal file
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@@ -0,0 +1,14 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* 剩余里程查询参数-暂时未使用
*/
public class TaskLocationQueryRequest {
public TaskLocationQueryRequest() {
}
@Override
public String toString() {
return "TaskLocationQueryRequest{}";
}
}

203
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskLocationQueryResponse.java Normal file
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@@ -0,0 +1,203 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* 车端响应
* 车辆预估全程剩余里程、剩余时间
* 预估到下站预估里程、预估时间
*/
public class TaskLocationQueryResponse {
/**
* 当前位置
*/
private VehicleSite curLocation;
/**
* 上一个站点
*/
private VehicleSite preStation;
/**
* 下一个站点
*/
private VehicleSite nextStation;
/**
* 从前一站点到目前的总距离（单位m）
*/
private double accumulatedStationDis;
/**
* 从当前到下一站点的距离（单位m）
*/
private double reversedAccumulatedStationDis;
/**
* 到达下一站需要的时间（单位s）
*/
private double stationTimeLeft;
/**
* 速度
*/
private double velocity;
/**
* 加速度
*/
private double acceleration;
/**
* 航向角
*/
private double theta;
/**
* 曲率
*/
private double kappa;
/**
* 任务全程的行进里程(单位米)
*/
private double accumulatedTaskDis;
/**
* 任务全程的剩余里程(单位米)
*/
private double reversedAccumulatedTaskDis;
/**
* 到达终点需要的时间（单位s）
*/
private double taskTimeLeft;
public TaskLocationQueryResponse() {
}
public TaskLocationQueryResponse(VehicleSite curLocation, VehicleSite preStation, VehicleSite nextStation, double accumulatedStationDis, double reversedAccumulatedStationDis, double stationTimeLeft, double velocity, double acceleration, double theta, double kappa, double accumulatedTaskDis, double reversedAccumulatedTaskDis, double taskTimeLeft) {
this.curLocation = curLocation;
this.preStation = preStation;
this.nextStation = nextStation;
this.accumulatedStationDis = accumulatedStationDis;
this.reversedAccumulatedStationDis = reversedAccumulatedStationDis;
this.stationTimeLeft = stationTimeLeft;
this.velocity = velocity;
this.acceleration = acceleration;
this.theta = theta;
this.kappa = kappa;
this.accumulatedTaskDis = accumulatedTaskDis;
this.reversedAccumulatedTaskDis = reversedAccumulatedTaskDis;
this.taskTimeLeft = taskTimeLeft;
}
public VehicleSite getCurLocation() {
return curLocation;
}
public void setCurLocation(VehicleSite curLocation) {
this.curLocation = curLocation;
}
public VehicleSite getPreStation() {
return preStation;
}
public void setPreStation(VehicleSite preStation) {
this.preStation = preStation;
}
public VehicleSite getNextStation() {
return nextStation;
}
public void setNextStation(VehicleSite nextStation) {
this.nextStation = nextStation;
}
public double getAccumulatedStationDis() {
return accumulatedStationDis;
}
public void setAccumulatedStationDis(double accumulatedStationDis) {
this.accumulatedStationDis = accumulatedStationDis;
}
public double getReversedAccumulatedStationDis() {
return reversedAccumulatedStationDis;
}
public void setReversedAccumulatedStationDis(double reversedAccumulatedStationDis) {
this.reversedAccumulatedStationDis = reversedAccumulatedStationDis;
}
public double getStationTimeLeft() {
return stationTimeLeft;
}
public void setStationTimeLeft(double stationTimeLeft) {
this.stationTimeLeft = stationTimeLeft;
}
public double getVelocity() {
return velocity;
}
public void setVelocity(double velocity) {
this.velocity = velocity;
}
public double getAcceleration() {
return acceleration;
}
public void setAcceleration(double acceleration) {
this.acceleration = acceleration;
}
public double getTheta() {
return theta;
}
public void setTheta(double theta) {
this.theta = theta;
}
public double getKappa() {
return kappa;
}
public void setKappa(double kappa) {
this.kappa = kappa;
}
public double getAccumulatedTaskDis() {
return accumulatedTaskDis;
}
public void setAccumulatedTaskDis(double accumulatedTaskDis) {
this.accumulatedTaskDis = accumulatedTaskDis;
}
public double getReversedAccumulatedTaskDis() {
return reversedAccumulatedTaskDis;
}
public void setReversedAccumulatedTaskDis(double reversedAccumulatedTaskDis) {
this.reversedAccumulatedTaskDis = reversedAccumulatedTaskDis;
}
public double getTaskTimeLeft() {
return taskTimeLeft;
}
public void setTaskTimeLeft(double taskTimeLeft) {
this.taskTimeLeft = taskTimeLeft;
}
@Override
public String toString() {
return "TaskLocationQueryResponse{" +
"curLocation=" + curLocation +
", preStation=" + preStation +
", nextStation=" + nextStation +
", accumulatedStationDis=" + accumulatedStationDis +
", reversedAccumulatedStationDis=" + reversedAccumulatedStationDis +
", stationTimeLeft=" + stationTimeLeft +
", velocity=" + velocity +
", acceleration=" + acceleration +
", theta=" + theta +
", kappa=" + kappa +
", accumulatedTaskDis=" + accumulatedTaskDis +
", reversedAccumulatedTaskDis=" + reversedAccumulatedTaskDis +
", taskTimeLeft=" + taskTimeLeft +
'}';
}
}

91
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStartNotification.java Normal file
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@@ -0,0 +1,91 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
import java.util.List;
/**
* 车端发送车辆启动结果
*/
public class TaskStartNotification {
/**
* 当前位置
*/
private VehicleSite curLocation;
/**
* 自动驾驶结果
*/
private boolean autopilotResult;
/**
* 站点剩余时间
*/
private double stationTimeLeft;
/**
* 错误消息
*/
private String errMsg;
/**
* 错误码
*/
private List<Integer> errCodes;
public TaskStartNotification() {
}
public TaskStartNotification(VehicleSite curLocation, boolean autopilotResult, double stationTimeLeft, String errMsg, List<Integer> errCodes) {
this.curLocation = curLocation;
this.autopilotResult = autopilotResult;
this.stationTimeLeft = stationTimeLeft;
this.errMsg = errMsg;
this.errCodes = errCodes;
}
public VehicleSite getCurLocation() {
return curLocation;
}
public void setCurLocation(VehicleSite curLocation) {
this.curLocation = curLocation;
}
public boolean isAutopilotResult() {
return autopilotResult;
}
public void setAutopilotResult(boolean autopilotResult) {
this.autopilotResult = autopilotResult;
}
public double getStationTimeLeft() {
return stationTimeLeft;
}
public void setStationTimeLeft(double stationTimeLeft) {
this.stationTimeLeft = stationTimeLeft;
}
public String getErrMsg() {
return errMsg;
}
public void setErrMsg(String errMsg) {
this.errMsg = errMsg;
}
public List<Integer> getErrCodes() {
return errCodes;
}
public void setErrCodes(List<Integer> errCodes) {
this.errCodes = errCodes;
}
@Override
public String toString() {
return "TaskStartNotification{" +
"curLocation=" + curLocation +
", autopilotResult=" + autopilotResult +
", stationTimeLeft=" + stationTimeLeft +
", errMsg='" + errMsg + '\'' +
", errCodes=" + errCodes +
'}';
}
}

252
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/Trajectory.java Normal file
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@@ -0,0 +1,252 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
import java.util.List;
/**
* 轨迹
*/
public class Trajectory {
/**
* 路线ID
*/
private Long id;
/**
* 名称
*/
private String name;
/**
* 轨迹URL
*/
private String trajUrl;
/**
* 轨迹MD5
*/
private String trajMd5;
/**
* 轨迹版本
*/
private String trajVer;
/**
* 停止点URL
*/
private String stopUrl;
/**
* 停止点MD5
*/
private String stopMd5;
/**
* 停止点版本
*/
private String stopVer;
/**
* 时间戳
*/
private Long timestamp;
/**
* 途经点
*/
private List<VehicleSite> wayPoints;
/**
* 黑名单点
*/
private List<VehicleSite> blackPoints;
public Trajectory() {
}
public Trajectory(Long id, String name, String trajUrl, String trajMd5, String trajVer, String stopUrl, String stopMd5, String stopVer, Long timestamp, List<VehicleSite> wayPoints, List<VehicleSite> blackPoints) {
this.id = id;
this.name = name;
this.trajUrl = trajUrl;
this.trajMd5 = trajMd5;
this.trajVer = trajVer;
this.stopUrl = stopUrl;
this.stopMd5 = stopMd5;
this.stopVer = stopVer;
this.timestamp = timestamp;
this.wayPoints = wayPoints;
this.blackPoints = blackPoints;
}
public Long getId() {
return id;
}
public void setId(Long id) {
this.id = id;
}
public String getName() {
return name;
}
public void setName(String name) {
this.name = name;
}
public String getTrajUrl() {
return trajUrl;
}
public void setTrajUrl(String trajUrl) {
this.trajUrl = trajUrl;
}
public String getTrajMd5() {
return trajMd5;
}
public void setTrajMd5(String trajMd5) {
this.trajMd5 = trajMd5;
}
public String getTrajVer() {
return trajVer;
}
public void setTrajVer(String trajVer) {
this.trajVer = trajVer;
}
public String getStopUrl() {
return stopUrl;
}
public void setStopUrl(String stopUrl) {
this.stopUrl = stopUrl;
}
public String getStopMd5() {
return stopMd5;
}
public void setStopMd5(String stopMd5) {
this.stopMd5 = stopMd5;
}
public String getStopVer() {
return stopVer;
}
public void setStopVer(String stopVer) {
this.stopVer = stopVer;
}
public Long getTimestamp() {
return timestamp;
}
public void setTimestamp(Long timestamp) {
this.timestamp = timestamp;
}
public List<VehicleSite> getWayPoints() {
return wayPoints;
}
public void setWayPoints(List<VehicleSite> wayPoints) {
this.wayPoints = wayPoints;
}
public List<VehicleSite> getBlackPoints() {
return blackPoints;
}
public void setBlackPoints(List<VehicleSite> blackPoints) {
this.blackPoints = blackPoints;
}
@Override
public String toString() {
return "Trajectory{" +
"id=" + id +
", name='" + name + '\'' +
", trajUrl='" + trajUrl + '\'' +
", trajMd5='" + trajMd5 + '\'' +
", trajVer='" + trajVer + '\'' +
", stopUrl='" + stopUrl + '\'' +
", stopMd5='" + stopMd5 + '\'' +
", stopVer='" + stopVer + '\'' +
", timestamp=" + timestamp +
", wayPoints=" + wayPoints +
", blackPoints=" + blackPoints +
'}';
}
public static Builder builder() {
return new Builder();
}
public static class Builder {
private Long id;
private String name;
private String trajUrl;
private String trajMd5;
private String trajVer;
private String stopUrl;
private String stopMd5;
private String stopVer;
private Long timestamp;
private List<VehicleSite> wayPoints;
private List<VehicleSite> blackPoints;
public Builder id(Long id) {
this.id = id;
return this;
}
public Builder name(String name) {
this.name = name;
return this;
}
public Builder trajUrl(String trajUrl) {
this.trajUrl = trajUrl;
return this;
}
public Builder trajMd5(String trajMd5) {
this.trajMd5 = trajMd5;
return this;
}
public Builder trajVer(String trajVer) {
this.trajVer = trajVer;
return this;
}
public Builder stopUrl(String stopUrl) {
this.stopUrl = stopUrl;
return this;
}
public Builder stopMd5(String stopMd5) {
this.stopMd5 = stopMd5;
return this;
}
public Builder stopVer(String stopVer) {
this.stopVer = stopVer;
return this;
}
public Builder timestamp(Long timestamp) {
this.timestamp = timestamp;
return this;
}
public Builder wayPoints(List<VehicleSite> wayPoints) {
this.wayPoints = wayPoints;
return this;
}
public Builder blackPoints(List<VehicleSite> blackPoints) {
this.blackPoints = blackPoints;
return this;
}
public Trajectory build() {
return new Trajectory(id, name, trajUrl, trajMd5, trajVer, stopUrl, stopMd5, stopVer, timestamp, wayPoints, blackPoints);
}
}
}

173
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/VehicleSite.java Normal file
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@@ -0,0 +1,173 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* 车辆站点
*/
public class VehicleSite {
/**
* 坐标类型
*/
private Integer coordinateType;
/**
* 坐标点
*/
private AutopilotPoint point;
/**
* 站点类型
*/
private Integer station;
/**
* 站点ID
*/
private Long stationId;
/**
* 站点名称
*/
private String stationName;
/**
* 站点序号
*/
private Integer stationSeq;
/**
* 是否临时不停靠
* 1：正常停靠 2：临时不停靠
*/
private Integer tag = 1;
public VehicleSite() {
}
public VehicleSite(Integer coordinateType, AutopilotPoint point, Integer station, Long stationId, String stationName, Integer stationSeq, Integer tag) {
this.coordinateType = coordinateType;
this.point = point;
this.station = station;
this.stationId = stationId;
this.stationName = stationName;
this.stationSeq = stationSeq;
this.tag = tag;
}
public Integer getCoordinateType() {
return coordinateType;
}
public void setCoordinateType(Integer coordinateType) {
this.coordinateType = coordinateType;
}
public AutopilotPoint getPoint() {
return point;
}
public void setPoint(AutopilotPoint point) {
this.point = point;
}
public Integer getStation() {
return station;
}
public void setStation(Integer station) {
this.station = station;
}
public Long getStationId() {
return stationId;
}
public void setStationId(Long stationId) {
this.stationId = stationId;
}
public String getStationName() {
return stationName;
}
public void setStationName(String stationName) {
this.stationName = stationName;
}
public Integer getStationSeq() {
return stationSeq;
}
public void setStationSeq(Integer stationSeq) {
this.stationSeq = stationSeq;
}
public Integer getTag() {
return tag;
}
public void setTag(Integer tag) {
this.tag = tag;
}
@Override
public String toString() {
return "VehicleSite{" +
"coordinateType=" + coordinateType +
", point=" + point +
", station=" + station +
", stationId=" + stationId +
", stationName='" + stationName + '\'' +
", stationSeq=" + stationSeq +
", tag=" + tag +
'}';
}
public static Builder builder() {
return new Builder();
}
public static class Builder {
private Integer coordinateType;
private AutopilotPoint point;
private Integer station;
private Long stationId;
private String stationName;
private Integer stationSeq;
private Integer tag = 1;
public Builder coordinateType(Integer coordinateType) {
this.coordinateType = coordinateType;
return this;
}
public Builder point(AutopilotPoint point) {
this.point = point;
return this;
}
public Builder station(Integer station) {
this.station = station;
return this;
}
public Builder stationId(Long stationId) {
this.stationId = stationId;
return this;
}
public Builder stationName(String stationName) {
this.stationName = stationName;
return this;
}
public Builder stationSeq(Integer stationSeq) {
this.stationSeq = stationSeq;
return this;
}
public Builder tag(Integer tag) {
this.tag = tag;
return this;
}
public VehicleSite build() {
return new VehicleSite(coordinateType, point, station, stationId, stationName, stationSeq, tag);
}
}
}

25
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/AutopilotCoordinateTypeEnum.java Normal file
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@@ -0,0 +1,25 @@
package com.zhjt.mogo.adas.unmanned.task.enums;
public enum AutopilotCoordinateTypeEnum {
WGS84(0,"WGS84"),GCJ02(1,"GCJ02"),UTM(2,"UTM");
private int code;
private String desc;
private AutopilotCoordinateTypeEnum(int code, String desc) {
this.code = code;
this.desc = desc;
}
public int getCode() {
return code;
}
public static AutopilotCoordinateTypeEnum codeOf(Integer code) {
for(AutopilotCoordinateTypeEnum typeEnum : AutopilotCoordinateTypeEnum.values()) {
if (code == typeEnum.code){
return typeEnum;
}
}
return null;
}
}

49
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java Normal file
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@@ -0,0 +1,49 @@
package com.zhjt.mogo.adas.unmanned.task.enums;
import android.text.TextUtils;
import androidx.annotation.Nullable;
public enum MessageCmdEnum {
AutopilotStartRequest("AutopilotStartRequest", "APP开始任务"),
TaskContinueNotification("TaskContinueNotification", "站点出发"),
TaskFinishNotification("TaskFinishNotification", "任务完成"),
TaskLocationQueryRequest("TaskLocationQueryRequest", "任务查询"),
TaskStartNotification("TaskStartNotification", "自驾/离站结果回执"),
TaskArrivalNotification("TaskArrivalNotification", "到站通知"),
TaskAbortNotification("TaskAbortNotification", "任务终止"),
TaskLocationQueryResponse("TaskLocationQueryResponse", "任务查询结果"),
TaskCancelRequest("TaskCancelRequest", "任务取消请求"),
TaskCancelResponse("TaskCancelResponse", "任务取消请求"),
TaskQueryStateRequest("TaskQueryStateRequest", "任务状态查询"),
TaskQueryStateResponse("TaskQueryStateResponse", "任务状态查询响应"),
;
private final String code;
private final String desc;
private MessageCmdEnum(String code, String desc) {
this.code = code;
this.desc = desc;
}
public String getCode() {
return code;
}
public String getDesc() {
return desc;
}
public static MessageCmdEnum codeOf(@Nullable String code) {
if (TextUtils.isEmpty(code)) return null;
for (MessageCmdEnum typeEnum : MessageCmdEnum.values()) {
if (code.equals(typeEnum.code)) {
return typeEnum;
}
}
return null;
}
}

33
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/RouteTypeEnum.java Normal file
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@@ -0,0 +1,33 @@
package com.zhjt.mogo.adas.unmanned.task.enums;
public enum RouteTypeEnum {
SiteRoute(0, "多站点模式"),
LineRoute(1, "路线模式");
private int code;
private String desc;
private RouteTypeEnum(int code, String desc) {
this.code = code;
this.desc = desc;
}
public int getCode() {
return code;
}
public String getDesc() {
return desc;
}
public static RouteTypeEnum codeOf(Integer code) {
for (RouteTypeEnum typeEnum : RouteTypeEnum.values()) {
if (code == typeEnum.code) {
return typeEnum;
}
}
return null;
}
}

25
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/StationEnum.java Normal file
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@@ -0,0 +1,25 @@
package com.zhjt.mogo.adas.unmanned.task.enums;
public enum StationEnum {
SITE(0,"业务站点"),WAY(1,"途径点");
private int code;
private String desc;
private StationEnum(int code, String desc) {
this.code = code;
this.desc = desc;
}
public int getCode() {
return code;
}
public static StationEnum codeOf(Integer code) {
for(StationEnum typeEnum : StationEnum.values()) {
if (code == typeEnum.code){
return typeEnum;
}
}
return null;
}
}

26
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/TaskStatusEnum.java Normal file
View File

@@ -0,0 +1,26 @@
package com.zhjt.mogo.adas.unmanned.task.enums;
public enum TaskStatusEnum {
INIT(0), START(10), CANCEL_ING(90), COMPLETE(100), FAIL(110), CANCEL(120);
private int code;
private TaskStatusEnum(int code) {
this.code = code;
}
public int getCode() {
return code;
}
public static TaskStatusEnum codeOf(Integer code) {
for (TaskStatusEnum typeEnum : TaskStatusEnum.values()) {
if (code == typeEnum.code) {
return typeEnum;
}
}
return null;
}
}

5
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -2,6 +2,7 @@ syntax = "proto3";
package mogo.telematics.pad;
import "geometry.proto";
import "header.proto";
enum ProtocolVersion
{
@@ -114,6 +115,7 @@ enum MessageType
MsgTypeObuUploadStatus = 0x1013A;//obu上报状态查询以结果(上下行)
MsgTypePlanningStopLine = 0x1013B;//决策停止线（自动驾驶决策呈现使用） 定频，理论是10hz，实际会有不同
MsgTypeFsmEvent = 0x1013C;//fsm event msg
MsgTypeTaskMgrAndPad = 0x10142; //鹰眼和任务管理之间的消息透传
}
message Header
@@ -1068,3 +1070,6 @@ message SetEnableReq
{
uint32 enable = 1; //1: enable, 0: disable
}
// message definition for MessageType: MsgTypeTaskMgrAndPad
//bytes

2
libraries/mogo-adas-data/src/main/res/values-en/strings.xml
View File

@@ -94,6 +94,8 @@
<string name="adas_data_MsgTypeObuUploadStatus_RECEIVE">Domain control OBU upload status response</string>
<string name="adas_data_MsgTypePlanningStopLine">Planning Stop Line</string>
<string name="adas_data_MsgTypeFsmEvent">FSM Event</string>
<string name="adas_data_MsgTypeTaskMgrAndPad_SEND">Send Task Management Message</string>
<string name="adas_data_MsgTypeTaskMgrAndPad_RECEIVE">Receive Task Management Message</string>
<string name="adas_data_MsgTypePlanningDecisionState">Planning decision state</string>
<string name="adas_data_MsgTypeSweeperTaskIndexData">Sweeper index data</string>
<string name="adas_data_MsgTypeObuWarningData">OBU warning event</string>

2
libraries/mogo-adas-data/src/main/res/values/strings.xml
View File

@@ -94,6 +94,8 @@
<string name="adas_data_MsgTypeObuUploadStatus_RECEIVE">域控上报OBU开关状态响应</string>
<string name="adas_data_MsgTypePlanningStopLine">决策停止线</string>
<string name="adas_data_MsgTypeFsmEvent">FSM事件</string>
<string name="adas_data_MsgTypeTaskMgrAndPad_SEND">发送任任务管理消息</string>
<string name="adas_data_MsgTypeTaskMgrAndPad_RECEIVE">接收任务管理消息</string>
<string name="adas_data_MsgTypePlanningDecisionState">Planning决策状态</string>
<string name="adas_data_MsgTypeSweeperTaskIndexData">清扫车指标数据</string>
<string name="adas_data_MsgTypeObuWarningData">OBU预警事件</string>

75
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -24,6 +24,7 @@ import com.zhidao.support.adas.high.common.CertificateUtils;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.Define;
import com.zhidao.support.adas.high.common.JsonUtil;
import com.zhidao.support.adas.high.common.ParallelDrivingManager;
import com.zhidao.support.adas.high.common.PingAddressHelper;
import com.zhidao.support.adas.high.common.ProtocolStatus;
@@ -60,9 +61,22 @@ import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendRes
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.AutopilotPoint;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.AutopilotStartRequest;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.CmdDto;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskContinueNotification;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite;
import com.zhjt.mogo.adas.unmanned.task.enums.AutopilotCoordinateTypeEnum;
import com.zhjt.mogo.adas.unmanned.task.enums.MessageCmdEnum;
import com.zhjt.mogo.adas.unmanned.task.enums.RouteTypeEnum;
import com.zhjt.mogo.adas.unmanned.task.enums.StationEnum;
import com.zhjt.mogo.adas.utils.ByteUtil;
import com.zhjt.service.chain.ChainLog;
import org.json.JSONObject;
import java.nio.charset.StandardCharsets;
import java.util.HashSet;
import java.util.List;
import java.util.Map;
@@ -3143,6 +3157,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
/**
* 查询OTA2.0状态
*
* @param queryStr 域控发送OTA升级请求中的 {"cmd":"PAD_QUERY_UPGRADE_STATUS","token":"123"}
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
@@ -3375,5 +3390,65 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
public long sendImgUploadCloudStatusQuery() {
return sendPBMessage(MessageType.TYPE_SEND_IMG_UPLOAD_CLOUD_STATUS_QUERY, null);
}
private <T> long sendTaskManager(T data) {
// MessagePad.TaskManager.Builder builder = MessagePad.TaskManager
// .newBuilder()
// .setTaskData(com.google.protobuf.ByteString.copyFrom(JsonUtil.toJsonBase64(data).getBytes(StandardCharsets.UTF_8)));
// return sendPBMessage(MessageType.TYPE_SEND_TASK_MANAGER, builder.build().toByteArray());
return sendPBMessage(MessageType.TYPE_SEND_TASK_MANAGER, JsonUtil.toJsonBase64(data).getBytes(StandardCharsets.UTF_8));
}
/**
* 向任务管理发送启动自驾命令
*
* @param taskId 任务ID, 同原接口的orderid， 首次和头部校验
* @param traj 轨迹信息
* @return
*/
@Override
public long sendTaskManagerAutopilotStart(Long taskId, Trajectory traj) {
AutopilotStartRequest autopilotStartRequest = AutopilotStartRequest.builder()
.taskId(taskId).source(1).traj(traj).taskType(RouteTypeEnum.LineRoute.getCode()).build();
CmdDto<AutopilotStartRequest> cmdDto = CmdDto.<AutopilotStartRequest>builder().cmdType(MessageCmdEnum.AutopilotStartRequest.getCode()).taskId(taskId)
.lineId(traj.getId()).timestamp(System.currentTimeMillis()).data(autopilotStartRequest).build();
return sendTaskManager(cmdDto);
}
/**
* 向任务管理发送继续自驾命令
*
* @param trackId
* @param taskId
* @param stationId
* @param stationName
* @param stationSeq
* @param lon
* @param lat
* @return
*/
@Override
public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat) {
VehicleSite vehicleSite = VehicleSite.builder().stationId(stationId).stationName(stationName)
.station(StationEnum.SITE.getCode()).stationSeq(stationSeq)
.point(AutopilotPoint.builder().x(lon).y(lat).build()).coordinateType(AutopilotCoordinateTypeEnum.WGS84.getCode()).build();
TaskContinueNotification taskContinueNotification = TaskContinueNotification.builder().curStation(vehicleSite).build();
CmdDto<TaskContinueNotification> cmdDto = CmdDto.<TaskContinueNotification>builder().cmdType(MessageCmdEnum.TaskContinueNotification.getCode()).taskId(taskId).lineId(trackId).timestamp(System.currentTimeMillis()).data(taskContinueNotification).build();
return sendTaskManager(cmdDto);
}
/**
* 向任务管理发送取消自驾命令
*
* @param taskId
* @return
*/
@Override
public long sendTaskManagerAutopilotCancel(Long taskId) {
CmdDto<JSONObject> cmdDto = CmdDto.<JSONObject>builder().cmdType(MessageCmdEnum.TaskCancelRequest.getCode()).taskId(taskId)
.lineId(0L).timestamp(System.currentTimeMillis()).data(new JSONObject()).build();
return sendTaskManager(cmdDto);
}
}

17
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -28,6 +28,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendRes
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory;
import java.util.HashSet;
import java.util.List;
@@ -1883,6 +1884,7 @@ public class AdasManager implements IAdasNetCommApi {
/**
* OTA2.0 请求命令下发
*
* @param queryStr {"cmd":"PAD_QUERY_UPGRADE_STATUS","token":"123"} JSON
* @return
*/
@@ -2085,6 +2087,21 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel == null ? -1L : mChannel.sendImgUploadCloudStatusQuery();
}
@Override
public long sendTaskManagerAutopilotStart(Long taskId, Trajectory traj) {
return mChannel == null ? -1L : mChannel.sendTaskManagerAutopilotStart(taskId, traj);
}
@Override
public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat) {
return mChannel == null ? -1L : mChannel.sendTaskManagerAutopilotContinue(trackId, taskId, stationId, stationName, stationSeq, lon, lat);
}
@Override
public long sendTaskManagerAutopilotCancel(Long taskId) {
return mChannel == null ? -1L : mChannel.sendTaskManagerAutopilotCancel(taskId);
}
/**
* 查询节点状态
*

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -16,6 +16,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendRes
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory;
import java.util.List;
import java.util.Map;
@@ -1375,6 +1376,7 @@ public interface IAdasNetCommApi {
/**
* OTA2.0查询
*
* @param queryStr {"cmd":"PAD_QUERY_UPGRADE_STATUS","token":"123"} JSON
*/
long sendOtaPadMsgQuery(@Nullable String queryStr);
@@ -1534,6 +1536,12 @@ public interface IAdasNetCommApi {
*/
long sendImgUploadCloudStatusQuery();
long sendTaskManagerAutopilotStart(Long taskId, Trajectory traj);
long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat);
long sendTaskManagerAutopilotCancel(Long taskId);
/**
* 向工控机发送数据
*

44
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -34,7 +34,9 @@ import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.math.BigDecimal;
import java.util.ArrayList;
import java.util.Date;
import bag_manager.BagManagerOuterClass;
import chassis.Chassis;
@@ -795,6 +797,48 @@ public interface OnAdasListener {
*/
void onPlanningStopLine(@NonNull MessagePad.Header header, @NonNull Hadmap.MapMsg mapMsg);
/**
* 域控任务管理原始数据
*
* @param header 头
* @param data 数据
*/
void onAdasTaskManagerOriginal(@NonNull MessagePad.Header header, @NonNull byte[] data);
/**
* 域控任务管理离站通知
*
* @param taskId
* @param siteId
* @param sequence
* @param ack
* @param reason
* @param stationTimeLeft
*/
void onAdasTaskManagerDeparture(Long taskId, Long siteId, Integer sequence, boolean ack, String reason, double stationTimeLeft);
/**
* 域控任务管理到站通知
*
* @param taskId 任务ID, 同原接口的orderid， 首次和头部校验
* @param siteId 站点编号，对应云平台固定值
* @param sequence 站点序号，对应顺序列表里站点流程，从1开始，1为起始点，最大值为终点。 途径点填写0
* @param mileage 任务全程的已经行进的里程
*/
void onAdasTaskManagerArrival(Long taskId, Long siteId, Integer sequence, BigDecimal mileage);
/**
* 域控任务管理终止任务
*
* @param taskId
* @param userId
* @param status
* @param reason
* @param completedTime
* @param mileage
*/
void onAdasTaskManagerComplete(Long taskId, Long userId, Integer status, String reason, Date completedTime, BigDecimal mileage);
/**
* 是否有能力启动自动驾驶
*

35
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ByteArrayToBase64TypeAdapter.java Normal file
View File

@@ -0,0 +1,35 @@
package com.zhidao.support.adas.high.common;
import android.util.Base64;
import com.google.gson.TypeAdapter;
import com.google.gson.stream.JsonReader;
import com.google.gson.stream.JsonToken;
import com.google.gson.stream.JsonWriter;
import java.io.IOException;
public class ByteArrayToBase64TypeAdapter extends TypeAdapter<byte[]> {
@Override
public void write(JsonWriter writer, byte[] value) throws IOException {
if (value == null) {
writer.nullValue();
return;
}
// 将 byte[] 编码为 Base64 字符串并写入JSON
String base64 = Base64.encodeToString(value, Base64.NO_WRAP);
writer.value(base64);
}
@Override
public byte[] read(JsonReader reader) throws IOException {
if (reader.peek() == JsonToken.NULL) {
reader.nextNull();
return null;
}
// 从JSON中读取字符串，并将其从 Base64 解码回 byte[]
String base64 = reader.nextString();
return Base64.decode(base64, Base64.NO_WRAP);
}
}

80
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/JsonUtil.java
View File

@@ -1,66 +1,62 @@
package com.zhidao.support.adas.high.common;
import android.util.Base64;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import com.google.gson.JsonElement;
import com.google.gson.JsonObject;
import java.lang.reflect.Type;
import java.nio.charset.StandardCharsets;
/**
* Java对象和JSON字符串相互转化工具类
* 格式化
*
* @author xfk
*/
public final class JsonUtil {
// 1. 预先创建单例，避免重复 new 对象带来的开销
private static final Gson COMMON_GSON = new GsonBuilder()
.setDateFormat("yyyy-MM-dd HH:mm:ss")
.create();
private static final Gson NULL_SERIALIZE_GSON = new GsonBuilder()
.setDateFormat("yyyy-MM-dd HH:mm:ss")
.serializeNulls()
.create();
private JsonUtil() {
// 私有构造函数，防止被实例化
}
/**
* 对象转换成json字符串
*
* @param obj
* @return
*/
public static String toJson(Object obj) {
return toJson(false, obj);
}
public static String toJsonBase64(Object obj) {
String value = toJson(false, obj);
return Base64.encodeToString(value.getBytes(StandardCharsets.UTF_8), Base64.NO_WRAP);
}
public static String toJson(boolean isSerializeNulls, Object obj) {
Gson gson;
if (isSerializeNulls) {
GsonBuilder gsonBuilder = new GsonBuilder();
gsonBuilder.serializeNulls(); //重点
gson = gsonBuilder.create();
} else {
gson = new Gson();
}
return gson.toJson(obj);
if (obj == null) return null;
return isSerializeNulls ? NULL_SERIALIZE_GSON.toJson(obj) : COMMON_GSON.toJson(obj);
}
/**
* json字符串转成对象
*
* @param str
* @param type
* @return
*/
public static <T> T fromJson(String str, Type type) {
Gson gson = new Gson();
return gson.fromJson(str, type);
if (isEmpty(str)) return null;
return COMMON_GSON.fromJson(str, type);
}
/**
* json字符串转成对象
*
* @param str
* @param type
* @return
*/
public static <T> T fromJson(String str, Class<T> type) {
Gson gson = new Gson();
return gson.fromJson(str, type);
if (isEmpty(str)) return null;
return COMMON_GSON.fromJson(str, type);
}
public static <T> T fromJson(JsonElement object, Class<T> type) {
if (object == null) return null;
return COMMON_GSON.fromJson(object, type);
}
}
private static boolean isEmpty(String str) {
return str == null || str.trim().isEmpty();
}
}

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -65,6 +65,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg obuUploadStatusMessage;//域控上报OBU开关状态响应
private IMsg planningStopLineMessage;//决策停止线
private IMsg fSMEventMessage;//FSM事件
private IMsg taskMgrAndPadMessage;//任务管理消息
private final AutopilotReview autopilotReview;
private final TurnLightState lightLeft = new TurnLightState();
@@ -382,11 +383,17 @@ public class MyMessageFactory implements IMyMessageFactory {
}
return planningStopLineMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_FSM_EVENT.typeCode) {
//决策停止线
//FSM事件
if (fSMEventMessage == null) {
fSMEventMessage = new FSMEventMessage();
}
return fSMEventMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_TASK_MANAGER.typeCode) {
//任务管理消息
if (taskMgrAndPadMessage == null) {
taskMgrAndPadMessage = new TaskManagerMessage();
}
return taskMgrAndPadMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;

105
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java Normal file
View File

@@ -0,0 +1,105 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import android.util.Log;
import com.google.gson.JsonObject;
import com.google.gson.JsonParser;
import com.google.gson.reflect.TypeToken;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.JsonUtil;
import com.zhidao.support.adas.high.protocol.RawData;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.CmdDto;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskAbortNotification;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite;
import com.zhjt.mogo.adas.unmanned.task.enums.MessageCmdEnum;
import com.zhjt.mogo.adas.unmanned.task.enums.TaskStatusEnum;
import java.math.BigDecimal;
import java.nio.charset.StandardCharsets;
import java.util.Date;
/**
* 任务管理消息
*/
public class TaskManagerMessage extends MyAbstractMessageHandler {
private static final String TAG = TaskManagerMessage.class.getSimpleName();
public TaskManagerMessage() {
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
int len = raw.getPackageLengthValue() - raw.getOffsetValue();
byte[] data = new byte[len];
System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
AdasChannel.calculateTimeConsumingOnDispatchRaw("任务管理消息", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onAdasTaskManagerOriginal(raw.getHeader(), data);
parse(adasListener, new String(data, StandardCharsets.UTF_8));
}
AdasChannel.calculateTimeConsumingBusiness("任务管理消息", nowTime);
}
private void parse(OnAdasListener adasListener, String data) {
Log.i(TAG, "任务管理接收原始数据=" + data);
JsonObject jsonObject = JsonParser.parseString(data).getAsJsonObject();
String cmdType = jsonObject.get("cmdType").getAsString();
MessageCmdEnum messageCmdEnum = MessageCmdEnum.codeOf(cmdType);
if (messageCmdEnum == MessageCmdEnum.TaskStartNotification) {//自驾/离站结果回执
CmdDto<TaskStartNotification> cmdDto = JsonUtil.fromJson(data, new TypeToken<CmdDto<TaskStartNotification>>() {
}.getType());
if (cmdDto != null) {
Log.i(TAG, "onAdasTaskManagerDeparture=" + cmdDto);
TaskStartNotification taskStartNotification = cmdDto.getData();
VehicleSite vehicleSite = taskStartNotification.getCurLocation();
adasListener.onAdasTaskManagerDeparture(cmdDto.getTaskId(), vehicleSite.getStationId(), vehicleSite.getStationSeq(), taskStartNotification.isAutopilotResult(), taskStartNotification.getErrMsg(), taskStartNotification.getStationTimeLeft());
}
} else if (messageCmdEnum == MessageCmdEnum.TaskArrivalNotification) {//到站通知
CmdDto<TaskArrivalNotification> cmdDto = JsonUtil.fromJson(data, new TypeToken<CmdDto<TaskArrivalNotification>>() {
}.getType());
if (cmdDto != null) {
Log.i(TAG, "onAdasTaskManagerArrival=" + cmdDto);
TaskArrivalNotification taskArrivalNotification = cmdDto.getData();
VehicleSite vehicleSite = taskArrivalNotification.getCurLocation();
adasListener.onAdasTaskManagerArrival(cmdDto.getTaskId(), vehicleSite.getStationId(), vehicleSite.getStationSeq(), BigDecimal.valueOf(taskArrivalNotification.getAccumulatedTaskDis()));
}
} else if (messageCmdEnum == MessageCmdEnum.TaskAbortNotification) {//终止任务
CmdDto<TaskAbortNotification> cmdDto = JsonUtil.fromJson(data, new TypeToken<CmdDto<TaskAbortNotification>>() {
}.getType());
if (cmdDto != null) {
Log.i(TAG, "onAdasTaskManagerComplete=" + cmdDto);
TaskAbortNotification taskAbortNotification = cmdDto.getData();
Log.i(TAG, "onAdasTaskManagerComplete=" + taskAbortNotification);
VehicleSite vehicleSite = taskAbortNotification.getCurLocation();
adasListener.onAdasTaskManagerComplete(cmdDto.getTaskId(), null, TaskStatusEnum.CANCEL.getCode(), taskAbortNotification.getErrMsg(), new Date(), BigDecimal.valueOf(taskAbortNotification.getAccumulatedTaskDis()));
}
} else if (messageCmdEnum == MessageCmdEnum.TaskLocationQueryResponse) {//任务查询结果
CmdDto<TaskLocationQueryResponse> cmdDto = JsonUtil.fromJson(data, new TypeToken<CmdDto<TaskLocationQueryResponse>>() {
}.getType());
if (cmdDto != null) {
Log.i(TAG, "onAdasTaskLocationQueryResponse=" + cmdDto);
TaskLocationQueryResponse taskLocationQueryResponse = cmdDto.getData();
}
}
}
}