diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java index 538eea185c..22b6f1188c 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java @@ -113,6 +113,7 @@ import java.util.List; import java.util.Locale; import java.util.concurrent.ScheduledExecutorService; +import bag_manager.BagManagerOuterClass; import chassis.Chassis; import chassis.VehicleStateOuterClass; import io.netty.channel.Channel; @@ -1025,6 +1026,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas DataDistribution.getInstance().addData(base); } + @Override + public void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager) { + + } + private void initAdas() { CupidLogUtils.e(TAG, "--->初始化"); AdasOptions options; diff --git a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java index a4e603b05e..5cfd2d55ab 100644 --- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java +++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java @@ -64,6 +64,7 @@ import java.util.Locale; import java.util.Timer; import java.util.TimerTask; +import bag_manager.BagManagerOuterClass; import chassis.VehicleStateOuterClass; import mogo.telematics.pad.MessagePad; import mogo.v2x.ObuWarningEvent; @@ -544,6 +545,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas } + @Override + public void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager) { + + } + private void initAdas() { CupidLogUtils.e(TAG, "--->初始化"); AdasOptions options; diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index 8cffd15828..511826c0e0 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -1,5 +1,6 @@ package com.mogo.eagle.core.function.autopilot.adapter +import bag_manager.BagManagerOuterClass import chassis.VehicleStateOuterClass import com.mogo.eagle.core.data.app.AppConfigInfo import com.mogo.eagle.core.data.config.FunctionBuildConfig @@ -453,6 +454,15 @@ class MoGoAdasListenerImpl : OnAdasListener { CallerObuDcCombineListenerManager.invokeObuDcData(obuWarningData) } + /** + * Bag管理应答 + * + * @param header 头 + * @param bagManager 数据 + */ + override fun onBagManagerCmd(header: MessagePad.Header?, bagManager: BagManagerOuterClass.BagManager?) { + } + /** * 是否可以启动自动驾驶 * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility diff --git a/libraries/mogo-adas-data/src/main/proto/bag_manager.proto b/libraries/mogo-adas-data/src/main/proto/bag_manager.proto new file mode 100644 index 0000000000..448e1bfdb9 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/proto/bag_manager.proto @@ -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 +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 465b5a675d..f96fe6fa96 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -6,7 +6,7 @@ import "geometry.proto"; enum ProtocolVersion { Defaultver = 0; - CurrentVersion = 9; //每次修改proto文件增加1 + CurrentVersion = 10; //每次修改proto文件增加1 } enum MessageType @@ -58,6 +58,8 @@ 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 + MsgTypePlanningCmd = 0x1011c; //给planning的指令 } message Header @@ -455,11 +457,30 @@ enum DrivingState 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； + + AUTO_LANE_CHANGE_LEFT_RSI = 17; //V2N RSI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_RSI = 18; //V2N RSI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_RSI = 19; //V2N RSI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_RSI = 20; //V2N RSI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_RSI = 21; //V2N RSI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； + + AUTO_LANE_CHANGE_LEFT_RSM = 22; //V2N RSM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_RSM = 23; //V2N RSM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_RSM = 24; //V2N RSM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_RSM = 25; //V2N RSM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_RSM = 26; //V2N RSM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； + + AUTO_LANE_CHANGE_LEFT_RSI_TRIANGLE = 27; //V2N 三角锥主动向左变道状态: 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_RSI_TRIANGLE = 28; //V2N 三角锥主动向右变道状态: 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_RSI_TRIANGLE = 29; //V2N 三角锥主动向左绕行状态: 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_RSI_TRIANGLE = 30; //V2N 三角锥主动向右绕行状态: 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_RSI_TRIANGLE = 31; //V2N 三角锥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 @@ -469,6 +490,11 @@ enum DrivingAction DRIVING_ACTION_STATE_TWO = 2; DRIVING_ACTION_STATE_THREE = 3; DRIVING_ACTION_STATE_FOUR = 4; + DRIVING_ACTION_STATE_FIVE = 5; + DRIVING_ACTION_STATE_SIX = 6; + DRIVING_ACTION_STATE_SEVEN = 7; + DRIVING_ACTION_STATE_EIGHT = 8; + DRIVING_ACTION_STATE_NINE = 9; } message DrivingActionMsg @@ -477,10 +503,36 @@ message DrivingActionMsg DrivingAction driving_action = 2; } +enum ParkScenarioDrivingState +{ + PARK_SENARIO_NO_AUTODRIVING = 0; //不在自动驾驶状态 + PARK_SENARIO_LANKE_KEEP = 1; //车道保持状态 + PARK_SENARIO_LANE_AVOID_LEFT = 2; //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 + PARK_SENARIO_LANE_AVOID_RIGHT = 3; //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 + PARK_SENARIO_START_UP = 4; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步； + PARK_SENARIO_PULL_OVER = 5; //站点停车状态： driving_action：1 表示正常站点停车；driving_action:2 表示择机站点停车； + PARK_SENARIO_FORCE_PULL_OVER_ON = 6; //响应触发靠边停车状态： driving_action：1 表示开始靠边停车；driving_action:2 表示靠边停车成功；3：靠边停车失败; + PARK_SENARIO_FORCE_PULL_OVER_OFF = 7; //不响应触发靠边停车状态： driving_action：1 表示距离前方站点100m；driving_action:2 表示距离路口100m；3： 正在变道 。。。 +} + +message ParkScenarioDrivingAction +{ + ParkScenarioDrivingState driving_state = 1; //决策场景 + DrivingAction driving_action = 2; //决策场景状态 +} + +message ParkScenarioPlanningAction +{ + ParkScenarioDrivingAction action_msg = 1; //决策场景（包含场景以及响应状态） + double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值) +} + message PlanningActionMsg { DrivingActionMsg action_msg = 1; double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值) + + ParkScenarioPlanningAction park_scenario_action = 3; } //message definition for MsgTypeSpecialVehicleTaskCmd @@ -520,4 +572,18 @@ 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 + +//message definition for MsgTypePlanningCmd +message PullOverCmd +{ + uint32 cmd = 1; //0: default 1: 靠边停车 2:重新起步 +} + +message PlanningCmd +{ + PullOverCmd pullOverCmd = 1; +} + diff --git a/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto b/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto index 5dd9552082..a0fc6b36f8 100644 --- a/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto +++ b/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto @@ -112,6 +112,6 @@ message ObuWarningData{ RsiWarningData rsiEvent = 3; RsmWarningData rsmEvent = 4; SpatWarningData spatEvent = 5; - MapMatchData mapMatchData = 6; + MapMatchData mapMatchData = 6; } diff --git a/libraries/mogo-adas-data/src/main/proto/robo_sweeper_task_index.proto b/libraries/mogo-adas-data/src/main/proto/robo_sweeper_task_index.proto index 5d442b3ae6..9f78494d75 100644 --- a/libraries/mogo-adas-data/src/main/proto/robo_sweeper_task_index.proto +++ b/libraries/mogo-adas-data/src/main/proto/robo_sweeper_task_index.proto @@ -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 -} \ No newline at end of file + + 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 +} diff --git a/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto b/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto index 850a8ae307..b3d273c353 100644 --- a/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto +++ b/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto @@ -24,8 +24,26 @@ message RoboVanSkywellTaskCmd { optional uint32 horn_cmd = 2 [default = 0]; //1:开始鸣笛 2:停止鸣笛 } +message RoboBusJinlvM1Cmd { + optional uint32 air_conditioner_cmd = 1; //0: default, 1: 开启空调, 2: 关闭空调 + optional uint32 air_conditioner_mode_cmd = 2; //模式 0: default, 1: 自动模式, 2: 制冷模式, 3: 通风模式（仅送风，无温度） + optional uint32 air_conditioner_wind_speed_cmd = 3; //风速 0: default, 1: 1档，2: 2档，3:3档 + optional uint32 air_conditioner_temperature_cmd = 4; //温度 0: default, 16-26: 温度 + + optional uint32 header_cmd = 5; //0: default, 1: 开启暖风机, 2: 关闭暖风机 + optional uint32 header_wind_speed_cmd = 6; //风速 0: default, 1: 1档，2: 2档 + + optional uint32 main_lamp1_cmd = 7; //0: default, 1: 开启顶灯1, 2: 关闭顶灯1 + optional uint32 main_lamp2_cmd = 8; //0: default, 1: 开启顶灯2, 2: 关闭顶灯2 + optional uint32 small_lamp_cmd = 9; //0: default, 1: 开启小灯(氛围灯), 2: 关闭小灯(氛围灯) + + optional uint32 front_door_cmd = 10; //0: default, 1: 开启车门, 2: 关闭车门 +} + + message SpecialVehicleTaskCmd { optional common.Header header = 1; optional RoboSweeperFuTianTaskCmd robo_sweeper_futian_task_cmd = 2; // 福田清扫车业务指令 optional RoboVanSkywellTaskCmd robo_van_skywell_task_cmd = 3; // 开沃小巴业务指令 + optional RoboBusJinlvM1Cmd robo_bus_jinlv_m1_cmd = 4; //金旅定制车m1指令 } diff --git a/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto b/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto index ac6fbc96cc..de1b6f386b 100644 --- a/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto +++ b/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto @@ -49,6 +49,45 @@ message SweeperFuTianCleanSystemState { optional float secu_sweepdisk_speed = 41 [default = 0]; // 扫盘转速 } +message RoboTaxiState { + optional bool veh_rta_recover = 1 [default = false]; // 车辆可进入自动驾驶标志位，不可进入时一定时间内恢复可自动进入 + optional bool veh_rta_no_recover = 2 [default = false]; // 车辆可进入自动驾驶标志位，不可进入时恢复无法自动进入 +} + +message RoboBusState { + optional bool reserved = 1; // 预留 +} + +message AirConditionerState { + optional bool is_on = 1; //是否开启 + optional uint32 mode = 2; //模式, 1: 自动模式, 2: 制冷模式, 3: 通风模式（仅送风，无温度） + optional uint32 temperature = 3; //温度 + optional uint32 wind_speed = 4; //风速, 1-3: 1-3档 +} + +message HeaterState { + optional bool is_on = 1; //是否开启 + optional uint32 wind_speed = 2; //风速, 1-2: 1-2档 +} + +message DoorState { + optional bool is_on = 1; //是否开启 +} + +message LightState { + optional bool is_on = 1; //是否开启 + optional uint32 color = 2; //颜色 +} + +message RoboBusJinlvM1State { + optional AirConditionerState air_conditioner_state = 1; //空调 + optional HeaterState heater_state = 2; //暖风机 + optional DoorState front_door_state = 3; //车门 + optional LightState main_lamp1_state = 4; //顶灯1 + optional LightState main_lamp2_state = 5; //顶灯2 + optional LightState small_lamp_state = 6; //小灯(氛围灯) +} + message VehicleState { optional common.Header header = 1; optional chassis.PilotMode pilot_mode = 2 [default = MODE_MANUAL]; @@ -90,14 +129,15 @@ message VehicleState { optional float rightFrontWheelAngle = 34 [default = 0]; //右前轮角度（deg）,左负右正 optional chassis.EPBWorkStatus epb = 35 [default = EPBSTATUS_NONE]; // EPB工作状态 - optional chassis.VehicleTakeOverStatus vehicletakeoverstatus = 36 [default = None_TakeOver]; // 车辆人工接管状态 optional bool Emergency_Stop_Switch = 37 [default = false]; // 急停开关状态 optional chassis.VehicleFaultLevel vehiclefaultlevel = 38 [default = None_Fault]; // 整车故障状态 optional float bms_soc = 40 [default = 0]; // 电量百分比范围 0~100 - - reserved 41 to 199; + optional float fuel_value = 41 [default = 0]; // 油车剩余油量 optional SweeperFuTianCleanSystemState sweeper_futian_clean_system_state = 200; // 福田清扫车上装状态信息 + optional RoboTaxiState robo_taxi_state = 201; // taxi状态 + optional RoboBusState robo_bus_state = 202; // bus状态 + optional RoboBusJinlvM1State robo_bus_jinlv_m1_state = 203; //金旅定制车m1状态 } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index ea191071e4..e00a25d351 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -55,6 +55,7 @@ import java.util.Timer; import java.util.TimerTask; import java.util.concurrent.atomic.AtomicInteger; +import bag_manager.BagManagerOuterClass; import chassis.SpecialVehicleTaskCmdOuterClass; import common.HeaderOuterClass; import mogo.telematics.pad.MessagePad; @@ -1375,5 +1376,17 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec return sendPBMessage(MessageType.TYPE_SEND_TRIP_INFO_REQ.typeCode, req.toByteArray()); } + /** + * 发送包管理请求 + * + * @param bagManager 包管理参数 + * @return boolean + */ + @Override + public boolean sendBagManagerCmd(BagManagerOuterClass.BagManager bagManager) { + return sendPBMessage(MessageType.TYPE_SEND_BAG_MANAGER_CMD.typeCode, bagManager.toByteArray()); + } + + } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index 52a2c2c294..bcdcf03590 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -15,6 +15,7 @@ import java.util.HashSet; import java.util.List; import java.util.Set; +import bag_manager.BagManagerOuterClass; import chassis.SpecialVehicleTaskCmdOuterClass; import mogo.telematics.pad.MessagePad; @@ -706,6 +707,17 @@ public class AdasManager implements IAdasNetCommApi { return mChannel != null && mChannel.sendTripInfoReq(type, lineName, departureStopName, arrivalStopName, isLastStop); } + /** + * 发送包管理请求 + * + * @param bagManager 包管理参数 + * @return boolean + */ + @Override + public boolean sendBagManagerCmd(BagManagerOuterClass.BagManager bagManager) { + return mChannel != null && mChannel.sendBagManagerCmd(bagManager); + } + /** * 获取工控机固定IP列表 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index ccc6a0acf9..ce88e086dd 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -10,6 +10,7 @@ import com.zhidao.support.adas.high.common.MessageType; import java.util.List; import java.util.Set; +import bag_manager.BagManagerOuterClass; import chassis.SpecialVehicleTaskCmdOuterClass; import mogo.telematics.pad.MessagePad; @@ -420,6 +421,13 @@ public interface IAdasNetCommApi { */ boolean sendTripInfoReq(int type, String lineName, String departureStopName, String arrivalStopName, boolean isLastStop); + /** + * 发送包管理请求 + * + * @param bagManager 包管理参数 + * @return boolean + */ + boolean sendBagManagerCmd(BagManagerOuterClass.BagManager bagManager); // TODO 需求暂停 待讨论 // boolean getRoutes(); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 5f0b6395e8..85d276ef55 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -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 bag_manager.BagManagerOuterClass; import chassis.VehicleStateOuterClass; import mogo.telematics.pad.MessagePad; import mogo.v2x.ObuWarningEvent; @@ -189,6 +190,14 @@ public interface OnAdasListener { */ void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData); + /** + * Bag管理应答 + * + * @param header 头 + * @param bagManager 数据 + */ + void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager); + /** * 是否有能力启动自动驾驶 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java index 2de37de94f..92f1d31659 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java @@ -16,13 +16,15 @@ 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_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"), 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"), @@ -36,6 +38,7 @@ public enum MessageType { TYPE_SEND_SET_AUTOPILOT_SPEED_REQ(MessagePad.MessageType.MsgTypeSetAutopilotSpeedReq, "设置自动驾驶最大速度"), TYPE_SEND_GLOBAL_PATH_REQ(MessagePad.MessageType.MsgTypeGlobalPathReq, "自动驾驶路径请求"), TYPE_RECEIVE_GLOBAL_PATH_RESP(MessagePad.MessageType.MsgTypeGlobalPathResp, "自动驾驶路径应答"), + @Deprecated//MAP290开始此接口弃用 TYPE_SEND_TRAFFIC_LIGHT_DATA(MessagePad.MessageType.MsgTypeTrafficLightData, "发送红绿灯数据到工控机"), @Deprecated TYPE_RECEIVE_WARN(MessagePad.MessageType.MsgTypeWarn, "预警数据"), @@ -45,16 +48,21 @@ public enum MessageType { TYPE_SEND_STATUS_QUERY_REQ(MessagePad.MessageType.MsgTypeStatusQueryReq, "状态查询请求"), TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答"), TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式"), - TYPE_SEND_OPERATOR_CMD_REQ(MessagePad.MessageType.MsgTypeOperatorCmdReq, "操控指令"), TYPE_SEND_RECORD_DATA_CONFIG_REQ(MessagePad.MessageType.MsgTypeRecordDataConfigReq, "数据采集配置查询"), TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP(MessagePad.MessageType.MsgTypeRecordDataConfigResp, "数据采集配置"), + TYPE_SEND_OPERATOR_CMD_REQ(MessagePad.MessageType.MsgTypeOperatorCmdReq, "操控指令"), TYPE_SEND_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, "数据订阅、取消订阅请求"), + TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, "特种车辆命令"), 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 + TYPE_SEND_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理请求"), + TYPE_RECEIVE_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理应答"), + TYPE_SEND_PLANNING_CMD(MessagePad.MessageType.MsgTypePlanningCmd, "给Planning指令"), + //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"), - TYPE_RECEIVE_OBU_WARNING_DATA(MessagePad.MessageType.MsgTypeObuWarningData, "OBU预警事件"); + TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, "清扫车指标数据"), + TYPE_RECEIVE_OBU_WARNING_DATA(MessagePad.MessageType.MsgTypeObuWarningData, "OBU预警事件"), + ; /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BagManagerMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BagManagerMessage.java new file mode 100644 index 0000000000..d4717f7c86 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BagManagerMessage.java @@ -0,0 +1,33 @@ +package com.zhidao.support.adas.high.msg; + +import android.os.SystemClock; + +import com.google.protobuf.InvalidProtocolBufferException; +import com.zhidao.support.adas.high.AdasChannel; +import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhidao.support.adas.high.protocol.RawData; + +import bag_manager.BagManagerOuterClass; + +/** + * Bag管理应答 + */ +public class BagManagerMessage extends MyAbstractMessageHandler { + + public BagManagerMessage() { + } + + @Override + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + BagManagerOuterClass.BagManager bagManager = BagManagerOuterClass.BagManager.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); + AdasChannel.calculateTimeConsumingOnDispatchRaw("Bag管理应答", raw.receiveTime); + long nowTime = 0; + if (CupidLogUtils.isEnableLog()) + nowTime = SystemClock.elapsedRealtime(); + if (adasListener != null) { + adasListener.onBagManagerCmd(raw.getHeader(), bagManager); + } + AdasChannel.calculateTimeConsumingBusiness("Bag管理应答", nowTime); + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index db9df5b63e..9d0b11daed 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -32,6 +32,7 @@ public class MyMessageFactory implements IMyMessageFactory { private IMsg recordDataConfigRespMessage;//数据采集配置应答 private IMsg planningDecisionStateMessage;//planning决策状态 private IMsg obuWarningDataMessage;//工控机透传OBU V2I数据 + private IMsg bagManagerMessage;//Bag管理应答 private final AutopilotReview autopilotReview; @@ -155,6 +156,12 @@ public class MyMessageFactory implements IMyMessageFactory { obuWarningDataMessage = new ObuWarningDataMessage(); } return obuWarningDataMessage; + } else if (messageType == MessageType.TYPE_RECEIVE_BAG_MANAGER_CMD.typeCode) { + //Bag管理应答 + if (bagManagerMessage == null) { + bagManagerMessage = new BagManagerMessage(); + } + return bagManagerMessage; } else { //MessageType.TYPE_DEFAULT.typeCode return null;