[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
This commit is contained in:
xinfengkun
69
libraries/mogo-adas-data/src/main/proto/bag_manager.proto
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69
libraries/mogo-adas-data/src/main/proto/bag_manager.proto
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@@ -0,0 +1,69 @@
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syntax = "proto2";
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package bag_manager;
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enum BagStat{
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SUCCEED = 0;
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EXECUTING = 1;
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EXECUTEERROR = 2;
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COPYERROR = 3;
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MERGEERROR = 4;
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UPLOADCOSERROR = 5;
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}
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// 上传cos桶状态
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message UploadCosStat{
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required uint64 key = 1;
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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
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optional string message = 3; // 失败时的具体描述
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}
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//空间使用情况
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message SpaceInfo{
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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
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optional uint64 total = 2; // 总空间
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optional uint64 free = 3; // 可用空间
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optional uint64 used = 4; // 已用空间
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}
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// bag目录空间使用情况
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message BagSpaceInfo{
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optional string host = 1; // 主机名
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optional SpaceInfo diskSpaceInfo = 2; // 硬盘空间信息
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repeated SpaceInfo BagDirsSpaceInfo = 3; // /home/mogo/data/bags下各子空间信息
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}
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// bag附加信息(录音,备注,接管信息)
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message BagDescription{
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optional string description = 1; // bag接管描述或重命名信息
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optional bool hasAudio = 2; // 此bag是否具有录音文件
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optional string audioUrl = 3; // bag附加录音文件的文件名
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optional bool reportBI = 4; //上报BI状态
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}
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// 各主机上报的包信息
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message SubBag {
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required uint64 key = 1; // bag key值
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required string host = 2; // 主机名
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optional uint64 size = 3; // 此子包的大小
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}
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// 单个key值对应的包信息
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message BagInfo{
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required uint64 key = 1; // bag key值
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optional uint64 totalSize = 2; // 所有子包或合并后的包的总大小
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optional string timestamp = 3; // 时间戳
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optional string bagPath = 4; // bag所在路径
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optional bool mergeStat = 5; // 合并状态
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optional bool uploadStat = 6; // 上传cos桶状态
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optional BagDescription description = 7; // 包描述信息
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repeated SubBag subBags = 8; // 子包信息
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}
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// 包管理请求
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message BagManager{
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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
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optional uint64 keyReq = 2; // 要操作的包的key值,发送请求且reqType=(3,4,5)时有效
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optional BagDescription descReq = 3; // 更新包附加信息,发送请求且reqType=5时有效
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repeated BagSpaceInfo spaceInfoResp = 4; // 空间使用信息,获取响应且reqType=1时有效
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repeated BagInfo bagsInfoResp = 5; // 包信息列表,获取响应且reqType=2时有效
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optional UploadCosStat uploadCosResp = 6; //反馈上传cos桶结果,获取响应且reqType=3时有效
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}
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@@ -24,7 +24,8 @@ enum PilotMode {
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MODE_STEER_ONLY = 2;
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MODE_SPEED_ONLY = 3;
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MODE_REMOTE_DRIVE = 6;
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CHASSID_TELECONTROL_DRIVE = 7;
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MODE_TELECONTROL_DRIVE = 7;
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MODE_INVALID = 8;
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}
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enum LongitudeDrivingMode {
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@@ -98,4 +99,4 @@ enum CleanSystemControlMode {
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Clean_PureWash_Both_Side_Work = 12;
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Clean_PureWash_Left_Work = 13;
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Clean_PureWash_Right_Work = 14;
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}
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}
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@@ -6,7 +6,7 @@ import "geometry.proto";
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enum ProtocolVersion
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{
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Defaultver = 0;
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CurrentVersion = 9; //每次修改proto文件增加1
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CurrentVersion = 12; //每次修改proto文件增加1
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}
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enum MessageType
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@@ -58,6 +58,7 @@ enum MessageType
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MsgTypeSpecialVehicleTaskCmd = 0x10118; //特种车辆命令
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MsgTypeSetParamReq = 0x10119; //设置参数命令
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MsgTypeTripInfoEvent = 0x1011a; //行程信息
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MsgTypeBagManagerCmd = 0x1011b; //bag管理
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}
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message Header
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@@ -208,6 +209,7 @@ message Line
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message TrajectoryDownloadReq
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{
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Line line = 1; //路线
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uint32 source = 2; //来源方, 0:invalid, 1:pad, 2:aicloud
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}
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// message definition for MessageType: MsgTypeBasicInfoReq
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@@ -452,9 +454,14 @@ enum DrivingState
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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
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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
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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
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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；
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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；
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UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应；
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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
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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
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UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应
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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
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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
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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
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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
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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；
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}
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enum DrivingAction
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@@ -515,4 +522,6 @@ message TripInfoEvent
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//message definition for MsgTypeObuWarningData
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//refer to obu_warning_event.proto for details
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//message definition for MsgTypeBagManagerCmd
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//refer to bag_manager.proto for details
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@@ -1,5 +1,5 @@
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syntax = "proto3";
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package mogo.v2x.v2i;
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package mogo.v2x;
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import "header.proto";
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import "mogo_v2x.proto";
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@@ -91,10 +91,27 @@ message SpatWarningData{
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repeated SpatLight lights = 3; /* 灯色信息集合 */
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}
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message ObuWarningData{
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common.Header header = 1;
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int32 MsgDataType = 2; /*1:rsiEvent; 2:RsmEvent; 3:SpatEvent*/
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RsiWarningData rsiEvent = 3;
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RsmWarningData RsmEvent = 4;
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SpatWarningData SpatEvent = 5;
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message NodeID{
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int32 region = 1;/* 定义地图中划分区域的ID号 */
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int32 id = 2; /* 定义地图节点ID */
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}
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message MapMatchData{
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int32 status = 1;/* 状态信息，0：更新，1：添加，2：删除 */
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int32 unitMask = 2;/* 描述所属字段有效性 */
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NodeID currentNodeID = 3;/* 前方节点信息 */
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NodeID upstreamNodeID = 4;/* 上游节点信息 */
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int32 matchingLaneID = 5;/* 匹配车道ID，0：无效 */
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int32 speedMaxLimit = 6;/* 建议最大车速，单位(0.02m/s) */
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int32 speedMinLimit = 7;/* 建议最小车速，单位(0.02m/s) */
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}
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message ObuWarningData{
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common.Header header = 1;
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int32 msgDataType = 2; /*1:rsiEvent; 2:rsmEvent; 3:spatEvent; 4:mapMatchData*/
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RsiWarningData rsiEvent = 3;
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RsmWarningData rsmEvent = 4;
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SpatWarningData spatEvent = 5;
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MapMatchData mapMatchData = 6;
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}
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@@ -17,4 +17,8 @@ message RoboSweeperTaskIndex {
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double ref_edge_point_lon = 10; // 投影边沿点经度
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double ref_edge_point_lat = 11; // 投影边沿点纬度
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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
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}
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uint32 clean_mode = 13; // 清扫作业模式 1–纯扫 2--洗扫, 3--纯洗, 4--纯吸
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uint32 clean_direction = 14; // 清扫方向 1--两侧, 2--左侧, 3--右侧
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uint32 clean_intensity= 15; // 作业强度 1–标准 2--强力
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}
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@@ -30,7 +30,6 @@ message HealthInfo{
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message TopicInfo{
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optional string name = 1; //topic name
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optional int32 hz = 2; //Topic发送的频率
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// optional int32 max_delay = 3; //unit： msec
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}
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message DropTopic{
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@@ -38,10 +37,28 @@ message DropTopic{
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repeated TopicInfo topic = 2;
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}
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message NodeInfo{
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optional string node_name = 1; //node name
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optional string launch_name = 2; //launch name
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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
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}
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message NodeFaultList{
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required int32 sum = 1; //下述node总数
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repeated NodeInfo node = 2;
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}
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message StatusInfo {
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required SystemState sys_state=1; // 当前消息状态
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required SystemState sys_state=1; // 当前系统状态
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repeated HealthInfo health_info=2; // 健康检查状态信息
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optional DropTopic topic_drop_info=3; // topic 掉频信息， 如有掉频添加没有不添加
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optional string reserved = 4; // 预留可选字段，用于接口扩充或者，其他信息补充
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optional string reserved = 4; // 用于表示idle模式，'idle' 表示idle模式 'work' 表示正常工作
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// add by liyl 20220907
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optional int32 pilot_mode = 5; // 0: manaul 1: autopilot 2: RemotePilot
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optional string map_version = 6; // MAP 版本信息
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optional string master_version = 7; // system_master 版本信息
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optional bool auto_pilot_ready = 8; // 自动驾驶状态就绪, 20221111增加
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optional bool remote_pilot_ready = 9; // 平行驾驶状态就绪
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optional NodeFaultList auto_pilot_unready_list = 10; //20221128 增加
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optional NodeFaultList remote_pilot_unready_list = 11; //20221128 增加
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}
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@@ -4,6 +4,7 @@ import com.zhidao.support.adas.high.bean.AutopilotAbility;
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import com.zhidao.support.adas.high.bean.AutopilotStatistics;
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import com.zhidao.support.adas.high.common.ProtocolStatus;
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import chassis.ChassisStatesOuterClass;
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import chassis.VehicleStateOuterClass;
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import mogo.telematics.pad.MessagePad;
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import mogo_msg.MogoReportMsg;
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@@ -51,13 +52,24 @@ public interface OnAdasListener {
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void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo);
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/**
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* 底盘信息, 透传底盘状态，pb参考底盘
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* 老底盘信息,透传底盘状态，pb参考底盘
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* TODO 老地盘数据会转发到新地盘
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* 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
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* TODO 后期可能会优化掉
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*
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* @param header 头
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* @param vehicleState 数据
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*/
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void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState);
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/**
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* 底盘状态
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*
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* @param header 头
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* @param chassisStates 头
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*/
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void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates);
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/**
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* 自动驾驶状态
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*
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@@ -16,13 +16,14 @@ public enum MessageType {
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TYPE_RECEIVE_TRAJECTORY(MessagePad.MessageType.MsgTypeTrajectory, "车前引导线"),
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TYPE_RECEIVE_TRACKED_OBJECTS(MessagePad.MessageType.MsgTypeTrackedObjects, "障碍物信息"),
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TYPE_RECEIVE_GNSS_INFO(MessagePad.MessageType.MsgTypeGnssInfo, "惯导信息"),
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TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "底盘信息"),
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TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "老底盘状态"),
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TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, "自动驾驶状态"),
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TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"),
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TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
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TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
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TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
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TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
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TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
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TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
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TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),
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@@ -52,7 +53,7 @@ public enum MessageType {
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TYPE_SEND_SET_PARAM_REQ(MessagePad.MessageType.MsgTypeSetParamReq, "设置参数命令"),
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TYPE_SEND_TRIP_INFO_REQ(MessagePad.MessageType.MsgTypeTripInfoEvent, "行程信息"),
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TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, "特种车辆命令"),
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//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
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//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
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TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态");
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||||
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@@ -0,0 +1,22 @@
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package com.zhidao.support.adas.high.msg;
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import com.google.protobuf.InvalidProtocolBufferException;
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import com.zhidao.support.adas.high.OnAdasListener;
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import com.zhidao.support.adas.high.protocol.RawData;
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import chassis.ChassisStatesOuterClass;
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/**
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* 重构后的底盘状态
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*/
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public class ChassisStatesMessage extends MyAbstractMessageHandler {
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@Override
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public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
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ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
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if (adasListener != null) {
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adasListener.onChassisStates(raw.getHeader(), chassisStates);
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}
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}
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||||
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}
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@@ -15,7 +15,8 @@ public class MyMessageFactory implements IMyMessageFactory {
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private IMsg trajectoryMessage;//局部轨迹消息
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private IMsg trackedObjectsMessage;//障碍物信息
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private IMsg gnssInfoMessage;//惯导信息
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private IMsg vehicleStateMessage;//底盘信息, 透传底盘状态，pb参考底盘
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private IMsg vehicleStateMessage;//老底盘信息, 透传底盘状态，pb参考底盘
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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) {
|
||||
|
||||
@@ -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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user