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Merge branch 'dev_minibus-d_230425_3.2.0' into merge320tomaster

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yangyakun
2023-06-12 16:45:02 +08:00
parent 8d87ad160c af033bd736
commit 566f493203
1091 changed files with 23936 additions and 15523 deletions
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36
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java
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@@ -2,7 +2,7 @@ package com.zhjt.mogo.adas.data.bean;
/**
* 监控事件报告中定义的事件以及解释
* 根据MAP2.11.0消息定义编写
* 根据MAP3.3.1事件定义编写
*/
public class MogoReport {
public static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";
@@ -68,6 +68,7 @@ public class MogoReport {
public static final String ACTION_CHECK_NETWORK = "ACTION_CHECK_NETWORK";
public static final String ACTION_TRY_AGAIN_LATER = "ACTION_TRY_AGAIN_LATER";
public static final String ACTION_REMOTEPILOT_REQUEST = "ACTION_REMOTEPILOT_REQUEST";
public static final String ACTION_MANUAL_HANDLE_REQUEST = "ACTION_MANUAL_HANDLE_REQUEST";
public enum Action {
@@ -79,7 +80,9 @@ public class MogoReport {
CHECK_GEAR(ACTION_CHECK_GEAR, "检查车辆档位等影响自动驾驶的因素"),
CHECK_NETWORK(ACTION_CHECK_NETWORK, "检查网络连接和路由器等影响通信的因素"),
TRY_AGAIN_LATER(ACTION_TRY_AGAIN_LATER, "请稍后重试"),
REMOTEPILOT_REQUEST(ACTION_REMOTEPILOT_REQUEST, "请求远程驾驶");
REMOTEPILOT_REQUEST(ACTION_REMOTEPILOT_REQUEST, "请求远程驾驶"),
MANUAL_HANDLE_REQUEST(ACTION_MANUAL_HANDLE_REQUEST, "请安全员注意接管"),
;
/**
* 消息Action code
@@ -114,6 +117,10 @@ public class MogoReport {
return CHECK_NETWORK.desc;
case ACTION_TRY_AGAIN_LATER:
return TRY_AGAIN_LATER.desc;
case ACTION_REMOTEPILOT_REQUEST:
return REMOTEPILOT_REQUEST.desc;
case ACTION_MANUAL_HANDLE_REQUEST:
return MANUAL_HANDLE_REQUEST.desc;
default:
return actionCode;
}
@@ -151,6 +158,7 @@ public class MogoReport {
String DATA_NOT_EXIST = "EMAP_DATA_NOT_EXIST";//无法加载到正确的sqlite文件
String TRA_NOT_EXIST = "EMAP_TRA_NOT_EXIST";//无法找到轨迹文件
String TRA_LOAD_FAILED = "EMAP_TRA_LOAD_FAILED";//加载轨迹文件失败
String ENGINE_INIT_FAILED = "EMAP_ENGINE_INIT_FAILED";//引擎初始化失败，包括轨迹路径不存在；vehicle_config.txt加载失败
String EXIT_AUTOPILOT_FOR_PLANNING = "EMAP_EXIT_AUTOPILOT_FOR_PLANNING";//因planning掉帧强退自动驾驶
String EXIT_AUTOPILOT_FOR_LOCATION = "EMAP_EXIT_AUTOPILOT_FOR_LOCATION";//因location掉帧强退自动驾驶
String EXIT_AUTOPILOT_FOR_CHASSIS = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS";//因底盘消息掉帧强退自动驾驶
@@ -170,12 +178,17 @@ public class MogoReport {
String ENTRY_AUTOPILOT_FOR_ACCEL = "EMAP_ENTRY_AUTOPILOT_FOR_ACCEL";//加速踏板干预未进自驾
String ENTRY_AUTOPILOT_FOR_STEER = "EMAP_ENTRY_AUTOPILOT_FOR_STEER";//方向盘干预未进自驾
String ENTRY_AUTOPILOT_FOR_GEAR_SWITCH = "EMAP_ENTRY_AUTOPILOT_FOR_GEAR_SWITCH";//档位切换干预未进自驾
String ENTRY_AUTOPILOT_FOR_DISTANCE = "EMAP_ENTRY_AUTOPILOT_FOR_DISTANCE";//因planning起点距离太远不可进自驾
String ENTRY_AUTOPILOT_FOR_VEHICLE_ERROR = "EMAP_ENTRY_AUTOPILOT_FOR_VEHICLE_ERROR";//车辆故障需要保修，故障原因见msg信息
String ENTRY_AUTOPILOT_FOR_CHASSIS_FAULT = "EMAP_ENTRY_AUTOPILOT_FOR_CHASSIS_FAULT ";//底盘异常，需要下电重启
String ENTRY_AUTOPILOT_FOR_UNKNOWN = "EMAP_ENTRY_AUTOPILOT_FOR_UNKNOWN ";//进自驾原因确实未知，必须联系软硬件技术进行排查
String ENTRY_AUTOPILOT_FOR_OTHER_CTL = "EMAP_ENTRY_AUTOPILOT_FOR_OTHER_CTL";//其他干预未进自驾，请检查仪表盘和开关项（如双闪，制动灯灯等 可在msg中补充原因信息）
String HADMAP_ENGINE_NO_ROUTING_INFO = "EMAP_HADMAP_ENGINE_NO_ROUTING_INFO";//hadmap_engine算路失败或未找到轨迹文件导致的轨迹文件信息未发布
String HADMAP_NO_TRAJECTORY = "EMAP_HADMAP_NO_TRAJECTORY";//hadmap未发布全局路径
String HADMAP_PLANNING_NO_TRAJECTORY = "EMAP_HADMAP_PLANNING_NO_TRAJECTORY";//local_planning未发布局部轨迹
String CONTROL_ABNORMAL_COMMAND = "EMAP_CONTROL_ABNORMAL_COMMAND";//controller发布的控制指令异常
String CAN_ADAPTER_NO_CHASSIS_INFO = "EMAP_CAN_ADAPTER_NO_CHASSIS_INFO";//can_adapter未成功转发地盘信息
String TRAJECTORY_LOST_WHEN_AUTOPILOT = "EMAP_TRAJECTORY_LOST_WHEN_AUTOPILOT";//自驾状态，但是全局轨迹丢失超过1.5s
}
/**
@@ -217,6 +230,14 @@ public class MogoReport {
String FAULT = "ESYS_FAULT";//master启动10分钟，仍有agent未连接
String REBOOT_WARNING = "ESYS_REBOOT_WARNING";//命令重启不完全提示(部分模块没有关闭成功）
String CAN_MSG_LOST = "ESYS_CAN_MSG_LOST";//master接收底盘消息超时
/*******update_config_simple 配置（包含轨迹）下载相关异常*******/
String CONFIG_UPDATING_SPEED_JUMP = "ESYS_CONFIG_UPDATING_SPEED_JUMP";//文件下载速度跳变，低于阈值
String CONFIG_UPDATING_INPUT_PARAM_ABNORMAL = "ESYS_CONFIG_UPDATING_INPUT_PARAM_ABNORMAL";//配置下载传入参数异常
String CONFIG_UPDATING_DNS_ERROR = "ESYS_CONFIG_UPDATING_DNS_ERROR";//DNS解析异常
String CONFIG_UPDATING_URL_NOT_ARRIVED = "ESYS_CONFIG_UPDATING_URL_NOT_ARRIVED";//url不可达
String CONFIG_UPDATING_MD5_CHECK_ERROR = "ESYS_CONFIG_UPDATING_MD5_CHECK_ERROR";//md5检查失败
String CONFIG_UPDATING_REJECT_SAME_TRAJ_TASK = "ESYS_CONFIG_UPDATING_REJECT_SAME_TRAJ_TASK";//拒绝同名轨迹任务
}
/**
@@ -226,9 +247,13 @@ public class MogoReport {
String IN_INIT = "ESSM_IN_INIT";//SSM初始化，非任何模式，拒绝进入自动驾驶/平行驾驶
String IN_EXIT = "ESSM_IN_EXIT";//SSM处于停止模式，拒绝进入自动驾驶/平行驾驶
String AUTOPILOT_UNREADY = "ESSM_AUTOPILOT_UNREADY";//因自动驾驶状态未就绪拒绝自驾
String AUTOPILOT_KEY_NODE_BORKEN = "ESSM_AUTOPILOT_KEY_NODE_BORKEN";//因自驾驾驶关键节点挂掉拒绝自动驾驶
String REMOTEPILOT_UNREADY = "ESSM_REMOTEPILOT_UNREADY";//因平行驾驶状态未就绪拒绝平行驾驶
String MAP_IMAGE_DIFF = "ESSM_MAP_IMAGE_DIFF";//同镜像Agent存在版本不一致的问题
String MAP_IMAGE_DIFF = "ESSM_MAP_IMAGE_DIFF";//Agent镜像存在版本不一致的问题
String COLD_START_TIMEOUT = "ESSM_COLD_START_TIMEOUT";//系统冷启动超时未完成
String HAVE_AGENT_LOST_CONNECT = "ESSM_HAVE_AGENT_LOST_CONNECT";//存在agent失联
String IGNORED_CMD_DUE_PAD_CONTROL = "ESSM_IGNORED_CMD_DUE_PAD_CONTROL ";//pad自驾中，拒绝云控的自驾命令
String IGNORED_CMD_DUE_AICLOUD_CONTROL = "ESSM_IGNORED_CMD_DUE_AICLOUD_CONTROL ";//云控自驾中，拒绝pad的自驾命令
}
interface EAGENT {
@@ -275,7 +300,8 @@ public class MogoReport {
* 平行驾驶相关异常
*/
interface EPARALLEL {
String AICLOUD_CONNECTION_ERROR = "EPARALLEL_AICLOUD_CONNECTION_ERROR";//平行驾驶长连接异常
String AICLOUD_CONNECTION_ERROR = "EPARALLEL_AICLOUD_CONNECTION_ERROR";//平行驾驶长连接异常 断网（此时不符合平行驾驶条件) 平行驾驶退出到自驾，同时减速停车
String AICLOUD_NETWORK_WEAK = "EPARALLEL_AICLOUD_NETWORK_WEAK";//车端系统检测到弱网 弱网 平行驾驶退出到自驾，同时减速停车
}
/**
@@ -343,6 +369,7 @@ public class MogoReport {
String REOMTEPILOT_RUNING = "ISYS_REOMTEPILOT_RUNING";//平行驾驶运行中
String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态
String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态
String ALREADY_AUTOPILOT_STATE = "ISYS_ALREADY_AUTOPILOT_STATE";//已经在自驾状态驾驶，忽略自驾命令
/*******轨迹下载相关*******/
String INIT_TRAJECTORY_START = "ISYS_INIT_TRAJECTORY_START";//轨迹管理_轨迹开始下载
@@ -367,6 +394,7 @@ public class MogoReport {
interface ISSM {
String INIT = "ISSM_INIT";//SSM系统上电初始化
String RESTARTED = "ISSM_RESTARTED";//SSM系统发生重启
String HAVE_AGENT_CONNECTED = "ISSM_HAVE_AGENT_CONNECTED";//agent已连接成功
// String MODE_XX_START = "ISSM_MODE_XX_START";//SSM变更模式开始
// String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready

13
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -146,7 +146,8 @@ message TrackedObject
repeated Location polygon = 15;
geometry.Point center = 16;
AdditionalAttribute add_attribute = 17; // 事件类型
reserved 18 to 100;
double angle = 18; //相对于自车x轴的角度，左正右负
reserved 19 to 100;
string strUuid = 101;//String类型车辆ID
}
@@ -324,7 +325,7 @@ message CarConfigResp
string carType = 9; //车辆类型
string subCarType = 10; //车辆子类型
reserved 11 to 100;
int32 mapVersion = 101;//dockVersion解析出版本号，解析失败为-1。例如："MAP-taxi_RoboTaxi_df_2.8.0.3_20220928_test" 解析结果为：280
int32 mapVersion = 101;//dockVersion解析出版本号，仅用于版本对比，解析失败为-1。例如："MAP-taxi_RoboTaxi_df_2.8.0.3_20220928_test" 解析结果为：20800
bool isDF = 102;//车型是否是东风
bool isHQ = 103;//车型是否是红旗
bool isJinlv = 104;//车型是否是金旅小巴
@@ -372,7 +373,8 @@ message GlobalPathReq
// message definition for MsgTypeGlobalPathResp
message GlobalPathResp
{
repeated Location wayPoints = 1;
repeated Location wayPoints = 1;
uint64 lineId = 2; //路线id
}
// message definition for MsgTypeTrafficLightData
@@ -595,13 +597,13 @@ message PlanningActionMsg
//message definition for MsgTypeSetParamReq
message SetOneParam
{
uint32 type = 1; // 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s)
uint32 type = 1; // 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s)
// 3:AEB开关(bool) 0:关闭自动紧急制动功能 1:启用自动紧急制动功能
// 4:限制绕障开关(bool) 0:正常绕障 1：限制绕障 默认0
// 5:停车让行线前避让等待开关(bool) 0:停车让行线前无需等待 1:停车让行线前需要等待 默认0
// 6:地图限速功能开关(bool) 0:不使用地图限速功能 1:使用地图限速功能 默认0
// 7:环岛模式开关(bool) 0:普通模式 1:环岛模式 默认0
// 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略
// 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略
// 9:m1拼接视频自车位置参数(string), 格式:x,y,width,height
string value = 2; // 转成字符串的值
}
@@ -700,3 +702,4 @@ message SessionInfo
}