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[add]更新PB，添加他车轨迹预测接口

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This commit is contained in:
xinfengkun
2022-04-25 10:12:35 +08:00
parent 8c788c055e
commit 22b41082a0
15 changed files with 238 additions and 3 deletions
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15
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
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@@ -10,6 +10,7 @@ import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
@@ -98,6 +99,7 @@ public class DataDistribution {
public final List<String> listAutopilotState = new ArrayList<>();
public final List<String> listMogoReportMessage = new ArrayList<>();
public final List<String> listPerceptionTrafficLight = new ArrayList<>();
public final List<String> listPredictionObstacleTrajectory = new ArrayList<>();
public final List<String> listBasicInfoReq = new ArrayList<>();
public final List<String> listRecordPanel = new ArrayList<>();
public final List<String> listGlobalPathResp = new ArrayList<>();
@@ -205,6 +207,19 @@ public class DataDistribution {
// for (OnAdasClientListener listener : listeners) {
// listener.onPerceptionTrafficLight((PerceptionTrafficLight) data);
// }
// }
} else if (data instanceof PredictionObstacleTrajectory) {
listPredictionObstacleTrajectory.add(0, time + str);
if (listPredictionObstacleTrajectory.size() > LIST_SIZE) {
listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1);
}
if (listener != null) {
listener.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof BasicInfoReq) {
listBasicInfoReq.add(0, time + str);

22
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java Normal file
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@@ -0,0 +1,22 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import mogo.telematics.pad.MessagePad;
import prediction.Prediction;
public class PredictionObstacleTrajectory extends BaseInfo {
public final Prediction.mPredictionObjects bean;
public PredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects bean) {
super("接收", bean.getSerializedSize(), header);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -146,6 +146,9 @@ public class InfoFragment extends BaseFragment {
case Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT:
adapter.setData(DataDistribution.getInstance().listPerceptionTrafficLight);
break;
case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory);
break;
case Constants.TITLE.RECEIVE_ERROR:
adapter.setData(DataDistribution.getInstance().listErrorData);
break;

18
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -57,6 +57,7 @@ import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.MySSHResult;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
@@ -91,6 +92,7 @@ import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
public class MainActivity extends BaseActivity implements OnAdasListener, OnAdasConnectStatusListener, BaseAdapter.OnItemClickListener<String> {
@@ -140,6 +142,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private InfoFragment errorFragment;
private InfoFragment reportMessageFragment;
private InfoFragment perceptionTrafficLightFragment;
private InfoFragment predictionObstacleTrajectoryFragment;
private VersionFragment versionFragment;
private FragmentManager manager;
private FragmentTransaction transaction;
@@ -443,6 +446,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT);
titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
@@ -599,6 +603,14 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
if (predictionObstacleTrajectoryFragment == null)
predictionObstacleTrajectoryFragment = new InfoFragment(data);
if (!predictionObstacleTrajectoryFragment.isVisible()) {
transaction.replace(R.id.fl_info, predictionObstacleTrajectoryFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_CAR_CONFIG_RESP:
AdasManager.getInstance().sendCarConfigReq();
if (versionFragment == null)
@@ -747,6 +759,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) {
PredictionObstacleTrajectory base = new PredictionObstacleTrajectory(header, predictionObjects);
DataDistribution.getInstance().addData(base);
}
@Override
public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java
View File

@@ -167,7 +167,7 @@ public class VersionFragment extends BaseFragment {
list.add(new Config("最大自动驾驶限速:", adasConfig == null ? null : adasConfig.getMaxSpeedLimit() + "m/s"));
list.add(new Config("最小加速度:", adasConfig == null ? null : adasConfig.getMinAcceleration() + "m/s²"));
list.add(new Config("最大加速度:", adasConfig == null ? null : adasConfig.getMaxAcceleration() + "m/s²"));
list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersion().getNumber())));
list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersionValue())));
list.add(new Config("APP通信协议版本:", String.valueOf(AdasManager.getInstance().getProtocolVersion())));
}
list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion()));

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

@@ -150,6 +150,7 @@ public class Constants {
String RECEIVE_AUTOPILOT_STATE = "自动驾驶状态";
String RECEIVE_REPORT_MESSAGE = "监控事件";
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯";
String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = "他车轨迹预测";
// String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
String RECEIVE_CAR_CONFIG_RESP = "信息与配置";

4
app_ipc_monitoring/src/main/res/layout/layout_float.xml
View File

@@ -9,7 +9,9 @@
<androidx.recyclerview.widget.RecyclerView
android:id="@+id/rv_status"
android:layout_width="260dp"
android:layout_height="280dp" />
android:layout_height="280dp"
android:layout_marginTop="2dp"
android:layout_marginBottom="2dp" />
</LinearLayout>

8
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -47,6 +47,7 @@ import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo_msg.MogoReportMsg
import perception.TrafficLightOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
/**
@@ -214,6 +215,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
override fun onPredictionObstacleTrajectory(
header: MessagePad.Header?,
predictionObjects: Prediction.mPredictionObjects?
) {
//他车轨迹预测
}
override fun onBasicInfoReq(
header: MessagePad.Header,
basicInfoReq: MessagePad.BasicInfoReq?

84
libraries/mogo-adas-data/src/main/proto/geometry.proto Normal file
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@@ -0,0 +1,84 @@
syntax = "proto2";
package geometry;
message Vector3 {
optional double x = 1;
optional double y = 2;
optional double z = 3;
}
message Vector3f {
optional float x = 1;
optional float y = 2;
optional float z = 3;
}
message Point2D {
optional double x = 1 [default = nan];
optional double y = 2 [default = nan];
}
message Point3D {
optional double x = 1 [default = nan];
optional double y = 2 [default = nan];
optional double z = 3 [default = nan];
}
message Trace {
optional double timestamp = 1;
optional Point3D position = 2;
optional Point3D velocity = 3;
optional Point3D acceleration = 4;
optional Point3D heading = 5;
}
message PointLLH {
// Longitude in degrees, ranging from -180 to 180.
optional double lon = 1 [default = nan];
// Latitude in degrees, ranging from -90 to 90.
optional double lat = 2 [default = nan];
// WGS-84 ellipsoid height in meters.
optional double height = 3 [default = 0.0];
}
message Point {
optional double x = 1;
optional double y = 2;
optional double z = 3;
}
message Quaternion {
optional double x = 1 [default = nan];
optional double y = 2 [default = nan];
optional double z = 3 [default = nan];;
optional double w = 4 [default = nan];
}
message Polygon {
repeated Point points = 1;
}
message Transform {
optional Vector3 translation = 1;
optional Quaternion rotation = 2;
}
//pose in free space, composed of position and orientation
message Pose {
optional Point position = 1;
optional Quaternion orientation = 2;
}
//acceleration in free space broken into its linear and angular parts
message Accel {
optional Vector3 linear = 1;
optional Vector3 angular = 2;
}
//velocity in free space broken into its linear and angular parts
message Twist {
optional Vector3 linear = 1;
optional Vector3 angular = 2;
}

6
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -3,7 +3,7 @@ package mogo.telematics.pad;
enum ProtocolVersion{
Defaultver = 0;
CurrentVersion = 1; //每次修改proto文件增加1
CurrentVersion = 2; //每次修改proto文件增加1
}
enum MessageType
@@ -17,6 +17,7 @@ enum MessageType
MsgTypeAutopilotState = 0x10004; //自动驾驶状态
MsgTypeReportMessage = 0x10005; //监控事件报告
MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -124,6 +125,9 @@ message AutopilotState
// message definition for MessageType: MsgTypePerceptionTrafficLight
// refer to traffic_light.proto
// message definition for MessageType: MsgTypePredictionObstacleTrajectory
// refer to prediction.proto
// message definition for MessageType: MsgTypeBasicInfoReq
message BasicInfoReq
{

33
libraries/mogo-adas-data/src/main/proto/prediction.proto Normal file
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@@ -0,0 +1,33 @@
syntax = "proto2";
package prediction;
// common
import "header.proto";
import "geometry.proto";
// estimated obstacle intent
message mPredictionObject {
optional int64 m_nid =1; //target id
optional int32 m_nquality =2; //target tracking life quality
optional int32 classtype =3; //target classtype
optional int32 m_preconfidence=4; //target predciton confidence
repeated geometry.Point prediction_trajectory = 5; //target prediction trajectory :vector : meter
repeated geometry.Point prediction_pose = 6; //targe prediciton pose vector angle:°
optional geometry.Vector3 objsize = 7; //length width height :meter
}
message mPredictionObjects {
optional common.Header header = 1;
optional int32 m_nnum0 =2; // all target number
optional int64 allcyclenum =3;//process cycle number
optional double m_ftime=4; //time stamp
optional double fdeltat=5; // deltatime prediciton time stamp default:0.1s
repeated mPredictionObject objs=6; //obj capcity
}

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

@@ -8,6 +8,7 @@ import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
/**
@@ -80,6 +81,14 @@ public interface OnAdasListener {
*/
void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights);
/**
* 他车轨迹预测
*
* @param header 头
* @param predictionObjects 他车轨迹预测数据
*/
void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects);
/**
* 自动驾驶设备基础信息请求
*

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -19,6 +19,7 @@ public enum MessageType {
TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, "自动驾驶状态"),
TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"),
TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -18,6 +18,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg autopilotStateMessage;//自动驾驶状态
private IMsg reportMessage;//监控事件报告
private IMsg perceptionTrafficLightMessage;//感知红绿灯
private IMsg predictionObstacleTrajectory;//他车轨迹预测
private IMsg basicInfoReqMessage;//自动驾驶设备基础信息请求
private IMsg carConfigRespMessage;//车机基础信息应答
@@ -91,6 +92,12 @@ public class MyMessageFactory implements IMyMessageFactory {
perceptionTrafficLightMessage = new PerceptionTrafficLightMessage();
}
return perceptionTrafficLightMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.typeCode) {
//他车轨迹预测
if (predictionObstacleTrajectory == null) {
predictionObstacleTrajectory = new PredictionObstacleTrajectoryMessage();
}
return predictionObstacleTrajectory;
} else if (messageType == MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode) {
//自动驾驶设备基础信息请求
if (basicInfoReqMessage == null) {

28
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java Normal file
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@@ -0,0 +1,28 @@
package com.zhidao.support.adas.high.msg;
import com.google.gson.Gson;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import mogo.telematics.pad.MessagePad;
import prediction.Prediction;
/**
* 他车轨迹预测
*/
public class PredictionObstacleTrajectoryMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
}
@Override
public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException {
Prediction.mPredictionObjects objects = Prediction.mPredictionObjects.parseFrom(msg);
if (adasListener != null) {
adasListener.onPredictionObstacleTrajectory(header, objects);
}
}
}