diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java index 9421872e3f..fb8fafd35b 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java @@ -11,6 +11,7 @@ import com.zhidao.adas.client.bean.ErrorData; import com.zhidao.adas.client.bean.GlobalPathResp; import com.zhidao.adas.client.bean.GnssInfo; import com.zhidao.adas.client.bean.MogoReportMessage; +import com.zhidao.adas.client.bean.ObuWarningData; import com.zhidao.adas.client.bean.OriginalPointCloudData; import com.zhidao.adas.client.bean.PerceptionTrafficLight; import com.zhidao.adas.client.bean.PlanningDecisionState; @@ -117,6 +118,7 @@ public class DataDistribution { public final List listOriginalPointCloud = new ArrayList<>(); public final List listPlanningObjects = new ArrayList<>(); public final List listPlanningDecisionState = new ArrayList<>(); + public final List listObuWarningData = new ArrayList<>(); public String cutDown(String str) { if (isCutDown && str.length() > 650) { @@ -168,6 +170,14 @@ public class DataDistribution { if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) { listener.second.onRefresh(); } + } else if (data instanceof ObuWarningData) { + listObuWarningData.add(0, time + str); + if (listObuWarningData.size() > LIST_SIZE) { + listObuWarningData.remove(listObuWarningData.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(listener.first)) { + listener.second.onRefresh(); + } } else if (data instanceof GnssInfo) { listGnssInfo.add(0, time + str); if (listGnssInfo.size() > LIST_SIZE) { diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuWarningData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuWarningData.java new file mode 100644 index 0000000000..7ea1bca9af --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuWarningData.java @@ -0,0 +1,24 @@ +package com.zhidao.adas.client.bean; + +import com.google.protobuf.TextFormat; + +import java.text.SimpleDateFormat; + +import mogo.telematics.pad.MessagePad; +import mogo.v2x.ObuWarningEvent; + +public class ObuWarningData extends BaseInfo { + public final ObuWarningEvent.ObuWarningData bean; + + public ObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData bean, SimpleDateFormat sdf) { + super("接收", bean.getSerializedSize(), header, sdf); + this.bean = bean; + } + + + @Override + public String toString() { + return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); + } + +} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java index 7cf79e26e6..f1cdaed48e 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java @@ -117,6 +117,8 @@ public class InfoFragment extends BaseFragment { adapter.setData(DataDistribution.getInstance().listArrivalNotification); } else if (Constants.TITLE.RECEIVE_STATUS_QUERY_RESP.equals(title)) { adapter.setData(DataDistribution.getInstance().listStatusInfo); + } else if (Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(title)) { + adapter.setData(DataDistribution.getInstance().listObuWarningData); } else if (Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(title)) { adapter.setData(DataDistribution.getInstance().listRecordDataConfig); } else if (Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP.equals(title)) { diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java index 185f094cd6..538eea185c 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java @@ -64,6 +64,7 @@ import com.zhidao.adas.client.bean.GlobalPathResp; import com.zhidao.adas.client.bean.GnssInfo; import com.zhidao.adas.client.bean.IPCConnectState; import com.zhidao.adas.client.bean.MogoReportMessage; +import com.zhidao.adas.client.bean.ObuWarningData; import com.zhidao.adas.client.bean.OriginalPointCloudData; import com.zhidao.adas.client.bean.PerceptionTrafficLight; import com.zhidao.adas.client.bean.PlanningDecisionState; @@ -116,6 +117,7 @@ import chassis.Chassis; import chassis.VehicleStateOuterClass; import io.netty.channel.Channel; import mogo.telematics.pad.MessagePad; +import mogo.v2x.ObuWarningEvent; import mogo_msg.MogoReportMsg; import perception.TrafficLightOuterClass; import prediction.Prediction; @@ -642,6 +644,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP); titleFragmentData.add(Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION); titleFragmentData.add(Constants.TITLE.RECEIVE_STATUS_QUERY_RESP); + titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_WARNING_DATA); titleFragmentData.add(Constants.TITLE.RECEIVE_WARN); titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR); @@ -1016,6 +1019,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas DataDistribution.getInstance().addData(base); } + @Override + public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) { + ObuWarningData base = new ObuWarningData(header, obuWarningData, sdf); + DataDistribution.getInstance().addData(base); + } private void initAdas() { CupidLogUtils.e(TAG, "--->初始化"); diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java index 77a8b48dff..6214902d6d 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java @@ -168,6 +168,7 @@ public class Constants { String RECEIVE_WARN = MessageType.TYPE_RECEIVE_WARN.desc; String RECEIVE_ARRIVAL_NOTIFICATION = MessageType.TYPE_RECEIVE_ARRIVAL_NOTIFICATION.desc; String RECEIVE_STATUS_QUERY_RESP = MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP.desc; + String RECEIVE_OBU_WARNING_DATA = MessageType.TYPE_RECEIVE_OBU_WARNING_DATA.desc; String RECEIVE_ERROR = "错误数据"; diff --git a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java index c995bae83d..7c39af50bb 100644 --- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java +++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java @@ -538,6 +538,10 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas } + @Override + public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) { + + } private void initAdas() { CupidLogUtils.e(TAG, "--->初始化"); diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index e2be4c4680..213e14145c 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -62,6 +62,7 @@ import com.zhjt.service.chain.ChainLog import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD import mogo.telematics.pad.MessagePad import mogo.telematics.pad.MessagePad.TrackedObject +import mogo.v2x.ObuWarningEvent import mogo_msg.MogoReportMsg import perception.TrafficLightOuterClass import prediction.Prediction @@ -441,7 +442,15 @@ class MoGoAdasListenerImpl : OnAdasListener { } } + /** + * OBU预警事件 + * + * @param header 头 + * @param obuWarningData 数据 + */ + override fun onObuWarningData(header: MessagePad.Header?, obuWarningData: ObuWarningEvent.ObuWarningData?) { + } /** * 是否可以启动自动驾驶 diff --git a/libraries/mogo-adas-data/src/main/proto/chassis.proto b/libraries/mogo-adas-data/src/main/proto/chassis.proto index c0d10d8dca..015f089efb 100644 --- a/libraries/mogo-adas-data/src/main/proto/chassis.proto +++ b/libraries/mogo-adas-data/src/main/proto/chassis.proto @@ -24,7 +24,8 @@ enum PilotMode { MODE_STEER_ONLY = 2; MODE_SPEED_ONLY = 3; MODE_REMOTE_DRIVE = 6; - CHASSID_TELECONTROL_DRIVE = 7; + MODE_TELECONTROL_DRIVE = 7; + MODE_INVALID = 8; } enum LongitudeDrivingMode { @@ -98,4 +99,4 @@ enum CleanSystemControlMode { Clean_PureWash_Both_Side_Work = 12; Clean_PureWash_Left_Work = 13; Clean_PureWash_Right_Work = 14; -} \ No newline at end of file +} diff --git a/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto b/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto index 3d3f89e613..5dd9552082 100644 --- a/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto +++ b/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto @@ -1,5 +1,5 @@ syntax = "proto3"; -package mogo.v2x.v2i; +package mogo.v2x; import "header.proto"; import "mogo_v2x.proto"; @@ -91,10 +91,27 @@ message SpatWarningData{ repeated SpatLight lights = 3; /* 灯色信息集合 */ } -message ObuWarningData{ - common.Header header = 1; - int32 MsgDataType = 2; /*1:rsiEvent; 2:RsmEvent; 3:SpatEvent*/ - RsiWarningData rsiEvent = 3; - RsmWarningData RsmEvent = 4; - SpatWarningData SpatEvent = 5; +message NodeID{ + int32 region = 1;/* 定义地图中划分区域的ID号 */ + int32 id = 2; /* 定义地图节点ID */ } + +message MapMatchData{ + int32 status = 1;/* 状态信息，0：更新，1：添加，2：删除 */ + int32 unitMask = 2;/* 描述所属字段有效性 */ + NodeID currentNodeID = 3;/* 前方节点信息 */ + NodeID upstreamNodeID = 4;/* 上游节点信息 */ + int32 matchingLaneID = 5;/* 匹配车道ID，0：无效 */ + int32 speedMaxLimit = 6;/* 建议最大车速，单位(0.02m/s) */ + int32 speedMinLimit = 7;/* 建议最小车速，单位(0.02m/s) */ +} + +message ObuWarningData{ + common.Header header = 1; + int32 msgDataType = 2; /*1:rsiEvent; 2:rsmEvent; 3:spatEvent; 4:mapMatchData*/ + RsiWarningData rsiEvent = 3; + RsmWarningData rsmEvent = 4; + SpatWarningData spatEvent = 5; + MapMatchData mapMatchData = 6; +} + diff --git a/libraries/mogo-adas-data/src/main/proto/system_status_info.proto b/libraries/mogo-adas-data/src/main/proto/system_status_info.proto index 58c511d8c8..0a4953f7f8 100644 --- a/libraries/mogo-adas-data/src/main/proto/system_status_info.proto +++ b/libraries/mogo-adas-data/src/main/proto/system_status_info.proto @@ -30,7 +30,6 @@ message HealthInfo{ message TopicInfo{ optional string name = 1; //topic name optional int32 hz = 2; //Topic发送的频率 - // optional int32 max_delay = 3; //unit： msec } message DropTopic{ @@ -38,10 +37,28 @@ message DropTopic{ repeated TopicInfo topic = 2; } +message NodeInfo{ + optional string node_name = 1; //node name + optional string launch_name = 2; //launch name + optional int32 state = 3; //0：未知状态None，1：依赖未就绪Waiting，2：启动中Starting，3：运行running，4：停止stopping，5：无法启动状态，6：人为启动状态，7：人为关闭状态 +} + +message NodeFaultList{ + required int32 sum = 1; //下述node总数 + repeated NodeInfo node = 2; +} message StatusInfo { - required SystemState sys_state=1; // 当前消息状态 + required SystemState sys_state=1; // 当前系统状态 repeated HealthInfo health_info=2; // 健康检查状态信息 optional DropTopic topic_drop_info=3; // topic 掉频信息， 如有掉频添加没有不添加 - optional string reserved = 4; // 预留可选字段，用于接口扩充或者，其他信息补充 + optional string reserved = 4; // 用于表示idle模式，'idle' 表示idle模式 'work' 表示正常工作 + // add by liyl 20220907 + optional int32 pilot_mode = 5; // 0: manaul 1: autopilot 2: RemotePilot + optional string map_version = 6; // MAP 版本信息 + optional string master_version = 7; // system_master 版本信息 + optional bool auto_pilot_ready = 8; // 自动驾驶状态就绪, 20221111增加 + optional bool remote_pilot_ready = 9; // 平行驾驶状态就绪 + optional NodeFaultList auto_pilot_unready_list = 10; //20221128 增加 + optional NodeFaultList remote_pilot_unready_list = 11; //20221128 增加 } 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 649cbf48d7..5f0b6395e8 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 @@ -6,6 +6,7 @@ import com.zhidao.support.adas.high.common.ProtocolStatus; import chassis.VehicleStateOuterClass; import mogo.telematics.pad.MessagePad; +import mogo.v2x.ObuWarningEvent; import mogo_msg.MogoReportMsg; import perception.TrafficLightOuterClass; import prediction.Prediction; @@ -180,6 +181,13 @@ public interface OnAdasListener { */ void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg); + /** + * OBU预警事件 + * + * @param header 头 + * @param obuWarningData 数据 + */ + void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData); /** * 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/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java index af484038ee..2de37de94f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java @@ -53,7 +53,8 @@ public enum MessageType { TYPE_SEND_TRIP_INFO_REQ(MessagePad.MessageType.MsgTypeTripInfoEvent, "行程信息"), TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, "特种车辆命令"), //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, "Planning决策状态"); + TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态"), + TYPE_RECEIVE_OBU_WARNING_DATA(MessagePad.MessageType.MsgTypeObuWarningData, "OBU预警事件"); /** 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 5786c0803b..db9df5b63e 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 @@ -31,6 +31,7 @@ public class MyMessageFactory implements IMyMessageFactory { private IMsg statusQueryRespMessage;//状态查询应答 private IMsg recordDataConfigRespMessage;//数据采集配置应答 private IMsg planningDecisionStateMessage;//planning决策状态 + private IMsg obuWarningDataMessage;//工控机透传OBU V2I数据 private final AutopilotReview autopilotReview; @@ -148,6 +149,12 @@ public class MyMessageFactory implements IMyMessageFactory { planningDecisionStateMessage = new PlanningDecisionStateMessage(); } return planningDecisionStateMessage; + } else if (messageType == MessageType.TYPE_RECEIVE_OBU_WARNING_DATA.typeCode) { + //OBU预警事件 + if (obuWarningDataMessage == null) { + obuWarningDataMessage = new ObuWarningDataMessage(); + } + return obuWarningDataMessage; } else { //MessageType.TYPE_DEFAULT.typeCode return null; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java new file mode 100644 index 0000000000..98075ce004 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java @@ -0,0 +1,31 @@ +package com.zhidao.support.adas.high.msg; + +import android.os.SystemClock; + +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.protocol.RawData; + +import mogo.v2x.ObuWarningEvent; + + +/** + * OBU预警事件 + */ +public class ObuWarningDataMessage extends MyAbstractMessageHandler { + + @Override + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + ObuWarningEvent.ObuWarningData obuWarningData = ObuWarningEvent.ObuWarningData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); + AdasChannel.calculateTimeConsumingOnDispatchRaw("OBU预警事件", raw.receiveTime); + long nowTime = 0; + if (CupidLogUtils.isEnableLog()) + nowTime = SystemClock.elapsedRealtime(); + if (adasListener != null) { + adasListener.onObuWarningData(raw.getHeader(), obuWarningData); + } + AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime); + } +}