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[pb12][清扫车新老底盘兼容] 清扫车分支 老地盘数据转新地盘数据

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This commit is contained in:
xinfengkun
2023-01-09 16:58:46 +08:00
parent d48c59f1bf
commit 23b96286ee
25 changed files with 625 additions and 87 deletions
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18
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
View File

@@ -40,8 +40,8 @@ import java.util.HashMap;
import java.util.List;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.SpecialVehicleTaskCmdOuterClass;
import chassis.VehicleStateOuterClass;
/**
* 清扫车操作面板View
@@ -179,7 +179,7 @@ public class SweeperOperatePanelView extends LinearLayout {
}
@Override
public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
boolean success = false;
if (cleanSystemState == null) {
return success;
@@ -285,7 +285,7 @@ public class SweeperOperatePanelView extends LinearLayout {
}
@Override
public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
boolean success = false;
if (cleanSystemState == null) {
return success;
@@ -403,7 +403,7 @@ public class SweeperOperatePanelView extends LinearLayout {
}
@Override
public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
boolean success = false;
if (cleanSystemState == null) {
return success;
@@ -491,7 +491,7 @@ public class SweeperOperatePanelView extends LinearLayout {
}
@Override
public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
boolean success = false;
if (cleanSystemState == null) {
return success;
@@ -791,7 +791,7 @@ public class SweeperOperatePanelView extends LinearLayout {
}
@Override
public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
long current = System.currentTimeMillis();
if (current - mCurrentTimeMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
return;
@@ -842,7 +842,7 @@ public class SweeperOperatePanelView extends LinearLayout {
mSyncingVehicleState = true;
}
private synchronized void onSyncVehicleStateCallBack(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
private synchronized void onSyncVehicleStateCallBack(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
if (cleanSystemState == null) return;
mSyncingVehicleState = false;
// 清扫作业开启状态（以电机状态为true代表Open成功，实际控制端控制步骤为：1.发送远程控制上装指令 2.发送电机启动指令）
@@ -934,7 +934,7 @@ public class SweeperOperatePanelView extends LinearLayout {
* @param cleanSystemState
* @return
*/
private boolean checkIfCleanModePureSweep(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
private boolean checkIfCleanModePureSweep(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
// 作业模式状态
// 洗扫
boolean clean_mode_wash_sweep = cleanSystemState.getSecuModWashSweepSts();
@@ -1051,7 +1051,7 @@ public class SweeperOperatePanelView extends LinearLayout {
void onCountDownTick(int senonds);
boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState);
boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState);
void onCmdSuccess();

10
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -7,6 +7,7 @@ import com.zhidao.adas.client.bean.AutopilotState;
import com.zhidao.adas.client.bean.BaseInfo;
import com.zhidao.adas.client.bean.BasicInfoReq;
import com.zhidao.adas.client.bean.CarConfigResp;
import com.zhidao.adas.client.bean.ChassisStates;
import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
@@ -117,6 +118,7 @@ public class DataDistribution {
public final List<String> listOriginalPointCloud = new ArrayList<>();
public final List<String> listPlanningObjects = new ArrayList<>();
public final List<String> listPlanningDecisionState = new ArrayList<>();
public final List<String> listChassisStates = new ArrayList<>();
public String cutDown(String str) {
if (isCutDown && str.length() > 650) {
@@ -184,6 +186,14 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ChassisStates) {
listChassisStates.add(0, time + str);
if (listChassisStates.size() > LIST_SIZE) {
listChassisStates.remove(listChassisStates.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof AutopilotState) {
listAutopilotState.add(0, time + str);
if (listAutopilotState.size() > LIST_SIZE) {

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ChassisStates.java Normal file
View File

@@ -0,0 +1,24 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
public class ChassisStates extends BaseInfo {
public final ChassisStatesOuterClass.ChassisStates bean;
public ChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates 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);
}
}

4
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -105,7 +105,9 @@ public class InfoFragment extends BaseFragment {
adapter.setData(DataDistribution.getInstance().listGnssInfo);
} else if (Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(title)) {
adapter.setData(DataDistribution.getInstance().listVehicleState);
} else if (Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(title)) {
} else if (Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(title)) {
adapter.setData(DataDistribution.getInstance().listChassisStates);
}else if (Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(title)) {
adapter.setData(DataDistribution.getInstance().listTrackedObjects);
} else if (Constants.TITLE.RECEIVE_AUTOPILOT_STATE.equals(title)) {
adapter.setData(DataDistribution.getInstance().listAutopilotState);

9
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -59,6 +59,7 @@ import com.zhidao.adas.client.bean.ArrivalNotification;
import com.zhidao.adas.client.bean.AutopilotState;
import com.zhidao.adas.client.bean.BasicInfoReq;
import com.zhidao.adas.client.bean.CarConfigResp;
import com.zhidao.adas.client.bean.ChassisStates;
import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
@@ -113,6 +114,7 @@ import java.util.Locale;
import java.util.concurrent.ScheduledExecutorService;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
@@ -629,6 +631,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRACKED_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_CHASSIS_STATES);
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
@@ -895,6 +898,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates) {
ChassisStates base = new ChassisStates(header, chassisStates, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState) {
AutopilotState base = new AutopilotState(header, autopilotState, sdf);

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

@@ -151,6 +151,7 @@ public class Constants {
String RECEIVE_TRACKED_OBJECTS = MessageType.TYPE_RECEIVE_TRACKED_OBJECTS.desc;
String RECEIVE_GNSS_INFO = MessageType.TYPE_RECEIVE_GNSS_INFO.desc;
String RECEIVE_VEHICLE_STATE = MessageType.TYPE_RECEIVE_VEHICLE_STATE.desc;
String RECEIVE_CHASSIS_STATES = MessageType.TYPE_RECEIVE_CHASSIS_STATES.desc;
String RECEIVE_AUTOPILOT_STATE = MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.desc;
String RECEIVE_REPORT_MESSAGE = MessageType.TYPE_RECEIVE_REPORT_MESSAGE.desc;
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.desc;

83
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -1,5 +1,6 @@
package com.mogo.eagle.core.function.autopilot.adapter
import chassis.ChassisStatesOuterClass
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -141,38 +142,66 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
//自车状态(底盘)，车灯等。
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
/**
* 老底盘
* TODO 老地盘数据会转发到新地盘
* TODO　鹰眼不要用此接口展示页面相关，可以用来记录链路日志
*
* @param header 头
* @param vehicleState 数据
*/
override fun onVehicleState(
header: MessagePad.Header,
vehicleState: VehicleStateOuterClass.VehicleState?
) {
if (vehicleState != null) {
//转向灯数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
//刹车灯数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
//方向盘转向角数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
//挂挡档位数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
//加速度
CallerAutopilotVehicleStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
//油门
CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
//刹车
CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
//清扫车（福田）清扫控制系统状态
vehicleState.sweeperFutianCleanSystemState?.also {
CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanSystemState(it)
}
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onChassisStates(header: MessagePad.Header, chassisStates: ChassisStatesOuterClass.ChassisStates?) {
if (chassisStates != null) {
chassisStates.bcmSystemStates?.let { bcmSystemStates ->
bcmSystemStates.turnLightState?.let {
//转向灯数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotLightSwitchData(it)
}
//刹车灯数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
}
chassisStates.steerSystemStates?.let {
//方向盘转向角数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotSteeringData(it.steeringWheelAngle)
}
chassisStates.gearSystemStates?.let { gearSystemStates ->
gearSystemStates.gearPosition?.let {
//挂挡档位数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotGearData(it)
}
}
chassisStates.vehicleMotionStates?.let {
//加速度
CallerAutopilotVehicleStateListenerManager.invokeAutopilotAcc(it.acceleration)
}
chassisStates.drivingSystemStates?.let {
//油门
CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
}
chassisStates.brakeSystemStates?.let {
//刹车
CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
}
chassisStates.taskSystemStates?.let { taskSystemStates ->
taskSystemStates.sweeperFutianTaskSystemStates?.let {
//清扫车（福田）清扫控制系统状态
CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanSystemState(it)
}
}
} else {
CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())

4
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
View File

@@ -28,7 +28,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
public class MoGoHandAdasMsgManager implements
@@ -187,7 +187,7 @@ public class MoGoHandAdasMsgManager implements
@Override
public void onSweeperFutianCleanSystemState(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
public void onSweeperFutianCleanSystemState(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
}
}

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
View File

@@ -4,7 +4,7 @@ import android.content.*
import android.util.Log
import chassis.Chassis.GearPosition
import chassis.Chassis.LightSwitch
import chassis.VehicleStateOuterClass
import chassis.ChassisStatesOuterClass
import com.mogo.eagle.core.function.api.autopilot.*
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.utilcode.kotlin.*
@@ -82,7 +82,7 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
timeOutCheck()
}
override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
send(CanStatus(isCanEnabled()))
timeOutCheck()
}

4
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -18,7 +18,7 @@ import androidx.core.content.ContextCompat
import androidx.core.view.*
import androidx.recyclerview.widget.LinearLayoutManager
import chassis.Chassis
import chassis.VehicleStateOuterClass
import chassis.ChassisStatesOuterClass
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.debug.DebugConfig
@@ -2164,7 +2164,7 @@ class DebugSettingView @JvmOverloads constructor(
/**
* 清扫车（福田）清扫控制系统状态
*/
override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
}

4
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
View File

@@ -27,7 +27,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
@@ -166,7 +166,7 @@ public class SteeringWheelView extends ConstraintLayout {
private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
@Override
public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
}
/**

5
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
View File

@@ -26,8 +26,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
import chassis.ChassisStatesOuterClass;
/**
* @author Jing
@@ -124,7 +123,7 @@ public class TrafficDataView extends ConstraintLayout {
private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
@Override
public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
}
/**

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
View File

@@ -1,7 +1,7 @@
package com.mogo.eagle.core.function.api.autopilot
import chassis.Chassis
import chassis.VehicleStateOuterClass
import chassis.ChassisStatesOuterClass
/**
* 车辆底盘 数据 回调监听
@@ -36,7 +36,7 @@ interface IMoGoAutopilotVehicleStateListener {
/**
* 没有自车状态数据
*/
fun onAutopilotDataException(timestamp: Long){}
fun onAutopilotDataException(timestamp: Long) {}
/**
* 车辆加速度
@@ -56,5 +56,5 @@ interface IMoGoAutopilotVehicleStateListener {
/**
* 清扫车（福田）清扫控制系统状态
*/
fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState)
fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates)
}

29
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
View File

@@ -2,10 +2,9 @@ package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import chassis.Chassis
import chassis.VehicleStateOuterClass
import chassis.ChassisStatesOuterClass
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
import com.mogo.eagle.core.function.call.base.CallerBase
import mogo.telematics.pad.MessagePad
import java.util.concurrent.ConcurrentHashMap
/**
@@ -84,8 +83,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
* 车辆方向盘转向角回调
* @param steering 方向盘转向角
*/
fun invokeAutopilotSteeringData(steering: Float){
M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
fun invokeAutopilotSteeringData(steering: Float) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotSteeringData(steering)
}
@@ -95,8 +94,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
* 车辆挂挡档位
* @param gear 档位
*/
fun invokeAutopilotGearData(gear: Chassis.GearPosition){
M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
fun invokeAutopilotGearData(gear: Chassis.GearPosition) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotGearData(gear)
}
@@ -106,8 +105,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
* 车辆加速度
* acc 加速度
*/
fun invokeAutopilotAcc(carAcc: Float){
M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
fun invokeAutopilotAcc(carAcc: Float) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotAcc(carAcc)
}
@@ -116,8 +115,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
/**
* throttle 油门
*/
fun invokeAutopilotThrottle(throttle: Float){
M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
fun invokeAutopilotThrottle(throttle: Float) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotThrottle(throttle)
}
@@ -126,8 +125,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
/**
* brake 刹车
*/
fun invokeAutopilotBrake(brake: Float){
M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
fun invokeAutopilotBrake(brake: Float) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotBrake(brake)
}
@@ -136,8 +135,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
/**
* clean system state 清扫车（福田）清扫控制系统状态
*/
fun invokeSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState){
M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
fun invokeSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCleanSystemState(cleanSystemState)
}
@@ -159,7 +158,7 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
}
fun invokeAutopilotDataException(timestamp: Long) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotDataException(timestamp)
}

69
libraries/mogo-adas-data/src/main/proto/bag_manager.proto Normal file
View File

@@ -0,0 +1,69 @@
syntax = "proto2";
package bag_manager;
enum BagStat{
SUCCEED = 0;
EXECUTING = 1;
EXECUTEERROR = 2;
COPYERROR = 3;
MERGEERROR = 4;
UPLOADCOSERROR = 5;
}
// 上传cos桶状态
message UploadCosStat{
required uint64 key = 1;
required uint32 stat = 2; // 0-成功 1-执行中 2-copy过程失败 3-合并过程失败 4-上传过程失败
optional string message = 3; // 失败时的具体描述
}
//空间使用情况
message SpaceInfo{
optional string directory = 1; // 路径名,为空表示总空间,否则表示对应的/home/mogo/data/bags下的子目录
optional uint64 total = 2; // 总空间
optional uint64 free = 3; // 可用空间
optional uint64 used = 4; // 已用空间
}
// bag目录空间使用情况
message BagSpaceInfo{
optional string host = 1; // 主机名
optional SpaceInfo diskSpaceInfo = 2; // 硬盘空间信息
repeated SpaceInfo BagDirsSpaceInfo = 3; // /home/mogo/data/bags下各子空间信息
}
// bag附加信息(录音,备注,接管信息)
message BagDescription{
optional string description = 1; // bag接管描述或重命名信息
optional bool hasAudio = 2; // 此bag是否具有录音文件
optional string audioUrl = 3; // bag附加录音文件的文件名
optional bool reportBI = 4; //上报BI状态
}
// 各主机上报的包信息
message SubBag {
required uint64 key = 1; // bag key值
required string host = 2; // 主机名
optional uint64 size = 3; // 此子包的大小
}
// 单个key值对应的包信息
message BagInfo{
required uint64 key = 1; // bag key值
optional uint64 totalSize = 2; // 所有子包或合并后的包的总大小
optional string timestamp = 3; // 时间戳
optional string bagPath = 4; // bag所在路径
optional bool mergeStat = 5; // 合并状态
optional bool uploadStat = 6; // 上传cos桶状态
optional BagDescription description = 7; // 包描述信息
repeated SubBag subBags = 8; // 子包信息
}
// 包管理请求
message BagManager{
required uint32 reqType = 1; // 请求类型:0-invalid 1-获取空间使用信息 2-遍历所有bag 3-上传cos 4-删除bag 5-为bag添加附加信息
optional uint64 keyReq = 2; // 要操作的包的key值,发送请求且reqType=(3,4,5)时有效
optional BagDescription descReq = 3; // 更新包附加信息,发送请求且reqType=5时有效
repeated BagSpaceInfo spaceInfoResp = 4; // 空间使用信息,获取响应且reqType=1时有效
repeated BagInfo bagsInfoResp = 5; // 包信息列表,获取响应且reqType=2时有效
optional UploadCosStat uploadCosResp = 6; //反馈上传cos桶结果,获取响应且reqType=3时有效
}

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

@@ -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;
}
}

17
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -6,7 +6,7 @@ import "geometry.proto";
enum ProtocolVersion
{
Defaultver = 0;
CurrentVersion = 9; //每次修改proto文件增加1
CurrentVersion = 12; //每次修改proto文件增加1
}
enum MessageType
@@ -58,6 +58,7 @@ enum MessageType
MsgTypeSpecialVehicleTaskCmd = 0x10118; //特种车辆命令
MsgTypeSetParamReq = 0x10119; //设置参数命令
MsgTypeTripInfoEvent = 0x1011a; //行程信息
MsgTypeBagManagerCmd = 0x1011b; //bag管理
}
message Header
@@ -208,6 +209,7 @@ message Line
message TrajectoryDownloadReq
{
Line line = 1; //路线
uint32 source = 2; //来源方, 0:invalid, 1:pad, 2:aicloud
}
// message definition for MessageType: MsgTypeBasicInfoReq
@@ -452,9 +454,14 @@ enum DrivingState
AUTO_LANE_CHANGE_RIGHT = 6; //主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
LANE_AVOID_LEFT = 7; //主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
LANE_AVOID_RIGHT = 8; //主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
START_UP = 9; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步；
PULL_OVER = 10; //靠边停车状态： driving_action：1 表示正常靠边停车；driving_action:2 表示择机靠边停车；
UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应；
START_UP = 9; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步
PULL_OVER = 10; //靠边停车状态： driving_action：1 表示正常靠边停车；driving_action:2 表示择机靠边停车
UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应
AUTO_LANE_CHANGE_LEFT_V2N = 12; //V2N主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
AUTO_LANE_CHANGE_RIGHT_V2N = 13; //V2N主动向右变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
LANE_AVOID_LEFT_V2N = 14; //V2N主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
LANE_AVOID_RIGHT_V2N = 15; //V2N主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
WAITING_V2N = 16; //V2N正在等待变道避让施工场景/静止障碍物: driving_action：1 表示正在等待；driving_action:2 表示等待超时请求平行驾驶；
}
enum DrivingAction
@@ -515,4 +522,6 @@ message TripInfoEvent
//message definition for MsgTypeObuWarningData
//refer to obu_warning_event.proto for details
//message definition for MsgTypeBagManagerCmd
//refer to bag_manager.proto for details

31
libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto
View File

@@ -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;
}

6
libraries/mogo-adas-data/src/main/proto/robo_sweeper_task_index.proto
View File

@@ -17,4 +17,8 @@ message RoboSweeperTaskIndex {
double ref_edge_point_lon = 10; // 投影边沿点经度
double ref_edge_point_lat = 11; // 投影边沿点纬度
double dist_to_ref_edge_point = 12; // 自车到投影边沿点的距离 正值为在投影边沿点的右边 ，负值为在投影边沿点的右边
}
uint32 clean_mode = 13; // 清扫作业模式 1–纯扫 2--洗扫, 3--纯洗, 4--纯吸
uint32 clean_direction = 14; // 清扫方向 1--两侧, 2--左侧, 3--右侧
uint32 clean_intensity= 15; // 作业强度 1–标准 2--强力
}

23
libraries/mogo-adas-data/src/main/proto/system_status_info.proto
View File

@@ -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
}

14
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -4,6 +4,7 @@ import com.zhidao.support.adas.high.bean.AutopilotAbility;
import com.zhidao.support.adas.high.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
@@ -51,13 +52,24 @@ public interface OnAdasListener {
void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo);
/**
* 底盘信息, 透传底盘状态，pb参考底盘
* 老底盘信息,透传底盘状态，pb参考底盘
* TODO 老地盘数据会转发到新地盘
* TODO 鹰眼不要用此接口展示页面相关，可以用来记录链路日志
* TODO 后期可能会优化掉
*
* @param header 头
* @param vehicleState 数据
*/
void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState);
/**
* 底盘状态
*
* @param header 头
* @param chassisStates 头
*/
void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates);
/**
* 自动驾驶状态
*

5
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -16,13 +16,14 @@ public enum MessageType {
TYPE_RECEIVE_TRAJECTORY(MessagePad.MessageType.MsgTypeTrajectory, "车前引导线"),
TYPE_RECEIVE_TRACKED_OBJECTS(MessagePad.MessageType.MsgTypeTrackedObjects, "障碍物信息"),
TYPE_RECEIVE_GNSS_INFO(MessagePad.MessageType.MsgTypeGnssInfo, "惯导信息"),
TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "底盘信息"),
TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "老底盘状态"),
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_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
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"),
@@ -52,7 +53,7 @@ public enum MessageType {
TYPE_SEND_SET_PARAM_REQ(MessagePad.MessageType.MsgTypeSetParamReq, "设置参数命令"),
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
//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, "Planning决策状态");

22
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java Normal file
View File

@@ -0,0 +1,22 @@
package com.zhidao.support.adas.high.msg;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.protocol.RawData;
import chassis.ChassisStatesOuterClass;
/**
* 重构后的底盘状态
*/
public class ChassisStatesMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
if (adasListener != null) {
adasListener.onChassisStates(raw.getHeader(), chassisStates);
}
}
}

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

@@ -15,7 +15,8 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg trajectoryMessage;//局部轨迹消息
private IMsg trackedObjectsMessage;//障碍物信息
private IMsg gnssInfoMessage;//惯导信息
private IMsg vehicleStateMessage;//底盘信息, 透传底盘状态，pb参考底盘
private IMsg vehicleStateMessage;//老底盘信息, 透传底盘状态，pb参考底盘
private IMsg chassisStatesMessage;//重构后的底盘状态
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
@@ -64,6 +65,12 @@ public class MyMessageFactory implements IMyMessageFactory {
vehicleStateMessage = new VehicleStateMessage();
}
return vehicleStateMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_CHASSIS_STATES.typeCode) {
//重构后的底盘状态
if (chassisStatesMessage == null) {
chassisStatesMessage = new ChassisStatesMessage();
}
return chassisStatesMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.typeCode) {
//自动驾驶状态
if (autopilotStateMessage == null) {

306
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
View File

@@ -9,7 +9,10 @@ import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import common.HeaderOuterClass;
/**
* 底盘信息, 透传底盘状态，pb参考底盘
@@ -25,9 +28,312 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
compatibility(adasListener, raw, vehicleState);
adasListener.onVehicleState(raw.getHeader(), vehicleState);
}
AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime);
// CupidLogUtils.e("底盘信息--->" + vehicleState.toString());
}
/**
* 将老地盘数据转换成新地盘数据
* 字段注释中 鹰眼已用 的 已和底盘相关开发 确认过，其他字段均为确认对应关系
* 新底盘中未找到字段：
* parking_brake longitude_driving_mode eps_steering_mode
* steering_sign location_missing trajectory_missing
* chassis_status_missing pilot_mode_condition_met vehicletakeoverstatus
*/
private void compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException {
/**************老地盘转换成新地盘PB***************/
ChassisStatesOuterClass.ChassisStates.Builder builder = ChassisStatesOuterClass.ChassisStates.newBuilder();
//工控机所用Header
if (vehicleState.hasHeader()) {
HeaderOuterClass.Header outHeader = vehicleState.getHeader();
if (outHeader != null) {
builder.setHeader(HeaderOuterClass.Header.parseFrom(vehicleState.getHeader().toByteArray()));
}
}
setBCMSystemStates(builder, vehicleState);
setSteerSystemStates(builder, vehicleState);
setGearSystemStates(builder, vehicleState);
setVehicleMotionStates(builder, vehicleState);
setDrivingSystemStates(builder, vehicleState);
setBrakeSystemStates(builder, vehicleState);
setChassisAutopilotAssistanceInformation(builder, vehicleState);
//电子驻车制动系统
if (vehicleState.hasEpb()) {
Chassis.EPBWorkStatus old = vehicleState.getEpb();
if (old != null) {
ChassisStatesOuterClass.EPBWorkStates epb = null;
if (old == Chassis.EPBWorkStatus.EPBSTATUS_NONE) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_NONE;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASED) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASED;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED_FAIL) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED_FAIL;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASE_FAIL) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASE_FAIL;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_FAULT) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_FAULT;
}
if (epb != null) {
builder.setEpbSystemStates(ChassisStatesOuterClass.EPBSystemStates.newBuilder()
.setEpbWorkState(epb));
}
}
}
// 整车故障状态
if (vehicleState.hasVehiclefaultlevel()) {
Chassis.VehicleFaultLevel vehicleFaultLevel = vehicleState.getVehiclefaultlevel();
if (vehicleFaultLevel != null) {
ChassisStatesOuterClass.VehicleFaultLevels vehicleFaultLevels = null;
if (vehicleFaultLevel == Chassis.VehicleFaultLevel.None_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.NONE_FAULT;
} else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.General_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.GENERAL_FAULT;
} else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Serious_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.SERIOUS_FAULT;
} else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Critical_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.CRITICAL_FAULT;
}
if (vehicleFaultLevels != null) {
builder.setVehicleChassisFaultInformation(ChassisStatesOuterClass.VehicleChassisFaultInformation.newBuilder()
.setVehiclefaultlevel(vehicleFaultLevels));
}
}
}
//电量
if (vehicleState.hasBmsSoc()) {
builder.setBmsSystemStates(ChassisStatesOuterClass.BMSSystemStates.newBuilder().setBmsSoc(vehicleState.getBmsSoc()));
}
//清扫车（福田）清扫控制系统状态
if (vehicleState.hasSweeperFutianCleanSystemState()) {
VehicleStateOuterClass.SweeperFuTianCleanSystemState sweeperFuTianCleanSystemState = vehicleState.getSweeperFutianCleanSystemState();
if (sweeperFuTianCleanSystemState != null) {
byte[] bytes = sweeperFuTianCleanSystemState.toByteArray();
builder.setTaskSystemStates(ChassisStatesOuterClass.TaskSystemStates.newBuilder()
.setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用
}
}
adasListener.onChassisStates(raw.getHeader(), builder.build());
}
private void setChassisAutopilotAssistanceInformation(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.Builder chassisAutopilotAssistanceInformation = null;
if (vehicleState.hasPilotMode()) {
Chassis.PilotMode pilotMode = vehicleState.getPilotMode();
if (pilotMode != null) {
chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder();
chassisAutopilotAssistanceInformation.setChassisPilotModeState(pilotMode);
}
}
if (vehicleState.hasEmergencyStopSwitch()) {
if (chassisAutopilotAssistanceInformation == null) {
chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder();
}
// 急停开关状态
chassisAutopilotAssistanceInformation.setEmergencyStopSwitchState(vehicleState.getEmergencyStopSwitch());
}
if (chassisAutopilotAssistanceInformation != null) {
builder.setChassisAutopilotAssistanceInformation(chassisAutopilotAssistanceInformation);
}
}
/**
* 档位
*/
private void setGearSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.GearSystemStates.Builder gearSystemStates = null;
if (vehicleState.hasGear()) {
Chassis.GearPosition gear = vehicleState.getGear();
if (gear != null) {
gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
//挂挡档位数据
gearSystemStates.setGearPosition(gear);//鹰眼已用
}
}
if (vehicleState.hasGearSwitchInference()) {
if (gearSystemStates == null) {
gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
}
//档位干预
gearSystemStates.setGearSwitchInferenceState(vehicleState.getGearSwitchInference());
}
if (gearSystemStates != null) {
builder.setGearSystemStates(gearSystemStates);
}
}
/**
* 油门
*/
private void setDrivingSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.DrivingSystemStates.Builder drivingSystemStates = null;
if (vehicleState.hasThrottle()) {
drivingSystemStates = ChassisStatesOuterClass.DrivingSystemStates.newBuilder();
//油门
drivingSystemStates.setThrottleResponsePosition(vehicleState.getThrottle());//鹰眼已用
}
if (vehicleState.hasAccelInference()) {
if (drivingSystemStates == null) {
drivingSystemStates = ChassisStatesOuterClass.DrivingSystemStates.newBuilder();
}
//加速踏板干预
drivingSystemStates.setAccelerationPedalInferenceState(vehicleState.getAccelInference());
}
if (drivingSystemStates != null) {
builder.setDrivingSystemStates(drivingSystemStates);
}
}
/**
* 刹车
*/
private void setBrakeSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.BrakeSystemStates.Builder brakeSystemStates = null;
if (vehicleState.hasBrake()) {
brakeSystemStates = ChassisStatesOuterClass.BrakeSystemStates.newBuilder();
//刹车
brakeSystemStates.setBrakePedalResponsePosition(vehicleState.getBrake());//鹰眼已用
}
if (vehicleState.hasBrakeInference()) {
if (brakeSystemStates == null) {
brakeSystemStates = ChassisStatesOuterClass.BrakeSystemStates.newBuilder();
}
//刹车干预
brakeSystemStates.setBrakePedalInferenceState(vehicleState.getBrakeInference());
}
if (brakeSystemStates != null) {
builder.setBrakeSystemStates(brakeSystemStates);
}
}
/**
* 方向盘
*/
private void setSteerSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.SteerSystemStates.Builder steerSystemStates = null;
if (vehicleState.hasSteering()) {
steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
//方向盘转向角数据
steerSystemStates.setSteeringWheelAngle(vehicleState.getSteering());//鹰眼已用
}
if (vehicleState.hasSteerInference()) {
if (steerSystemStates == null) {
steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
}
//方向盘干预
steerSystemStates.setSteeringWheelInferenceState(vehicleState.getSteerInference());
}
if (vehicleState.hasSteeringSpd()) {
if (steerSystemStates == null) {
steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
}
steerSystemStates.setSteeringWheelSpeed(vehicleState.getSteeringSpd());
}
if (vehicleState.hasLeftFrontWheelAngle()) {
if (steerSystemStates == null) {
steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
}
steerSystemStates.setFrontLeftWheelAngle(vehicleState.getLeftFrontWheelAngle());
}
if (vehicleState.hasRightFrontWheelAngle()) {
if (steerSystemStates == null) {
steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
}
steerSystemStates.setFrontRightWheelAngle(vehicleState.getRightFrontWheelAngle());
}
if (steerSystemStates != null) {
builder.setSteerSystemStates(steerSystemStates);
}
}
private void setVehicleMotionStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.VehicleMotionStates.Builder vehicleMotionStates = null;
if (vehicleState.hasSpeed()) {
vehicleMotionStates = ChassisStatesOuterClass.VehicleMotionStates.newBuilder();
vehicleMotionStates.setSpeed(vehicleState.getSpeed());
}
if (vehicleState.hasAccel()) {
if (vehicleMotionStates == null) {
vehicleMotionStates = ChassisStatesOuterClass.VehicleMotionStates.newBuilder();
}
//加速度
vehicleMotionStates.setAcceleration(vehicleState.getAccel());//鹰眼已用
}
if (vehicleMotionStates != null) {
builder.setVehicleMotionStates(vehicleMotionStates);
}
}
/**
* 车身控制模块
*/
private void setBCMSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.BCMSystemStates.Builder bcmSystemStates = null;
if (vehicleState.hasLight()) {
Chassis.LightSwitch light = vehicleState.getLight();
if (light != null) {
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
//转向灯数据
bcmSystemStates.setTurnLightState(light);//鹰眼已用
}
}
if (vehicleState.hasBrakeLightStatus()) {
if (bcmSystemStates == null) {
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
}
//刹车灯数据
bcmSystemStates.setBrakeLightState(vehicleState.getBrakeLightStatus() ? 1 : 0);//鹰眼已用
}
if (vehicleState.hasHorn()) {
if (bcmSystemStates == null) {
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
}
//鸣笛
bcmSystemStates.setHornState(vehicleState.getHorn() ? 1 : 0);
}
if (vehicleState.hasHighbeam()) {
if (bcmSystemStates == null) {
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
}
//远光灯
bcmSystemStates.setHighbeamState(vehicleState.getHighbeam() ? 1 : 0);
}
if (vehicleState.hasLowbeam()) {
if (bcmSystemStates == null) {
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
}
//近光灯
bcmSystemStates.setLowbeamState(vehicleState.getLowbeam() ? 1 : 0);
}
if (vehicleState.hasFoglight()) {
if (bcmSystemStates == null) {
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
}
//雾灯 新底盘分前后雾灯 老地盘只有一个 所以同时赋值
bcmSystemStates.setFrontFoglightState(vehicleState.getFoglight() ? 1 : 0);
bcmSystemStates.setBackFoglightState(vehicleState.getFoglight() ? 1 : 0);
}
if (vehicleState.hasClearanceLamps()) {
if (bcmSystemStates == null) {
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
}
//示廓灯
bcmSystemStates.setClearanceLampsState(vehicleState.getClearanceLamps() ? 1 : 0);
}
if (vehicleState.hasWarnLight()) {
if (bcmSystemStates == null) {
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
}
//报警灯
bcmSystemStates.setAlarmLightState(vehicleState.getWarnLight() ? 1 : 0);
}
if (bcmSystemStates != null) {
builder.setBcmSystemStates(bcmSystemStates);
}
}
}