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[3.0][OBU数据融合] 新增OBU数据接口，将OBU SDK数据转换成与域控相同的PB数据

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This commit is contained in:
xinfengkun
2023-02-13 16:02:17 +08:00
parent 3a1f96396f
commit 62f1e11681
12 changed files with 1017 additions and 140 deletions
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12
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -19,7 +19,6 @@ import com.zhidao.adas.client.bean.ObuMap;
import com.zhidao.adas.client.bean.ObuRsi;
import com.zhidao.adas.client.bean.ObuRsm;
import com.zhidao.adas.client.bean.ObuSpat;
import com.zhidao.adas.client.bean.ObuWarningData;
import com.zhidao.adas.client.bean.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningDecisionState;
@@ -131,7 +130,6 @@ public class DataDistribution {
public final List<DataShow> listFSMFunctionStates = new ArrayList<>();
public final List<DataShow> listRoboSweeperTaskIndex = new ArrayList<>();
public final List<DataShow> listBagManagerCmd = new ArrayList<>();
public final List<DataShow> listObuWarningData = new ArrayList<>();
public final List<DataShow> listObuSpat = new ArrayList<>();
public final List<DataShow> listObuRsi = new ArrayList<>();
public final List<DataShow> listObuRsm = new ArrayList<>();
@@ -159,7 +157,6 @@ public class DataDistribution {
private long listFSMFunctionStatesSize = 0;
private long listRoboSweeperTaskIndexSize = 0;
private long listBagManagerCmdSize = 0;
private long listObuWarningDataSize = 0;
private long listObuSpatSize = 0;
private long listObuRsiSize = 0;
private long listObuRsmSize = 0;
@@ -189,7 +186,6 @@ public class DataDistribution {
listFSMFunctionStatesSize = 1;
listRoboSweeperTaskIndexSize = 1;
listBagManagerCmdSize = 1;
listObuWarningDataSize = 1;
listObuSpatSize = 1;
listObuRsiSize = 1;
listObuRsmSize = 1;
@@ -246,14 +242,6 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuWarningData) {
listObuWarningData.add(0, new DataShow(listObuWarningDataSize++, time + str));
if (listObuWarningData.size() > LIST_SIZE) {
listObuWarningData.remove(listObuWarningData.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuSpat) {
listObuSpat.add(0, new DataShow(listObuSpatSize++, time + str));
if (listObuSpat.size() > LIST_SIZE) {

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

@@ -134,8 +134,6 @@ public class InfoFragment extends BaseFragment {
adapter.setData(DataDistribution.getInstance().listArrivalNotification);
} else if (Constants.TITLE.RECEIVE_STATUS_QUERY_RESP.equals(title)) {
adapter.setData(DataDistribution.getInstance().listStatusInfo);
} else if (Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(title)) {
adapter.setData(DataDistribution.getInstance().listObuWarningData);
} else if (Constants.TITLE.RECEIVE_OBU_SPAT.equals(title)) {
adapter.setData(DataDistribution.getInstance().listObuSpat);
} else if (Constants.TITLE.RECEIVE_OBU_RSI.equals(title)) {

8
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -73,7 +73,6 @@ import com.zhidao.adas.client.bean.ObuMap;
import com.zhidao.adas.client.bean.ObuRsi;
import com.zhidao.adas.client.bean.ObuRsm;
import com.zhidao.adas.client.bean.ObuSpat;
import com.zhidao.adas.client.bean.ObuWarningData;
import com.zhidao.adas.client.bean.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningDecisionState;
@@ -128,7 +127,6 @@ import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.ObuWarningEvent;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
@@ -668,7 +666,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION);
titleFragmentData.add(Constants.TITLE.RECEIVE_STATUS_QUERY_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_WARNING_DATA);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_SPAT);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_RSI);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_RSM);
@@ -1038,11 +1035,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
ObuWarningData base = new ObuWarningData(header, obuWarningData, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {

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

@@ -172,7 +172,6 @@ public class Constants {
String RECEIVE_WARN = MessageType.TYPE_RECEIVE_WARN.desc;
String RECEIVE_ARRIVAL_NOTIFICATION = MessageType.TYPE_RECEIVE_ARRIVAL_NOTIFICATION.desc;
String RECEIVE_STATUS_QUERY_RESP = MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP.desc;
String RECEIVE_OBU_WARNING_DATA = MessageType.TYPE_RECEIVE_OBU_WARNING_DATA.desc;
String RECEIVE_OBU_SPAT = "OBU SPAT信息";
String RECEIVE_OBU_RSI = "OBU RSI信息";
String RECEIVE_OBU_RSM = "OBU RSM信息";

5
app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
View File

@@ -69,7 +69,6 @@ import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.ObuWarningEvent;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
@@ -546,10 +545,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
}
@Override
public void onObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {

2
config.gradle
View File

@@ -93,7 +93,7 @@ ext {
// obu sdk
obusdk : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
mogoobu : 'com.mogo.support.obu:mogo-obu:1.1.0_beta0',
mogoobu : 'com.mogo.support.obu:mogo-obu:1.1.0_beta1',
// google
googlezxing : "com.google.zxing:core:3.3.3",

4
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -135,6 +135,8 @@ message TrackedObject
repeated Location polygon = 15;
geometry.Point center = 16;
AdditionalAttribute add_attribute = 17; // 事件类型
reserved 18 to 100;
string strUuid = 101;//String类型车辆ID
}
message TrackedObjects
@@ -188,7 +190,7 @@ message AutopilotState
message PlanningObject
{
uint32 uuid = 1;
uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事
uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事 0是leading障碍物，1是避障和择机的障碍物
}
message PlanningObjects

25
libraries/mogo-adas-data/src/main/proto/personal/obu_base.proto
View File

@@ -130,7 +130,7 @@ message WarningData{
//弱势交通参与者预警信息
message V2xWarning{
int32 unitMask = 1; /* 描述所属字段有效性 */
repeated WarningData warningData = 2;
repeated WarningData warningData = 2; /*预警数据*/
DateTime warningTime = 3; /* 预警触发时间 */
double distance = 4; /* 预警触发时与自车之间的距离，单位(m) */
}
@@ -165,3 +165,26 @@ message RsiWarning {
int32 targetPosition = 10; /* 目标方位，参考mg_rti_target_position_t */
double distance = 11; /* 预警触发时与自车之间的距离，单位(0.01m) */
}
message VehicleControl{
int32 unitMask = 1; /* 描述所属字段有效性 */
int32 brakePedalStatus = 2; /* 刹车踏板状态，0：未装备/未知/不可用，1：刹车踏板未踩下，2：刹车踏板已踩下 */
int32 transmissionStatus = 3; /* 车辆档位状态，0：空挡，1：停止档，2：前进挡，3：倒挡，7：无效值 */
int32 exteriorLights = 4; /* 车灯状态，0：近光灯，1：远光灯，2：左转信号灯，3：右转信号灯，4：危险信号灯，5：自动大灯，6：日间行车灯，7：雾灯，8：停车灯 */
}
message VehicleBasics{
int32 unitMask = 1; /* 描述所属字段有效性 */
string id = 2; /* OBU ID */
int64 secMark = 3; /* UTC时间，单位(ms) */
double latitude = 4; /* 维度，单位(°) */
double longitude = 5; /* 经度，单位(°) */
double elevation = 6; /* 海拔，单位(m) */
double speed = 7; /* 速度，单位(m/s) */
double heading = 8; /* 航向角，单位(°) */
AccFourAxes accFourAxes = 9; /* 四轴加速度 */
VehicleSize vehSize = 10; /* 车辆尺寸 */
int32 vehClass = 11; /* 车辆类型，参考《OBU软件SDK使用文档》附录A中的表1 */
VehicleControl vehControlMsg = 12; /* 车辆系统控制信息 */
int32 targetPosition = 13; /* 目标方位，参考mg_veh_target_position_t */
}

16
libraries/mogo-adas-data/src/main/proto/personal/obu_scene.proto
View File

@@ -2,12 +2,11 @@ syntax = "proto3";
package com.mogo.support.obu;
import "personal/obu_base.proto";
//场景PB 目前只有V2I（Rsi、Rsm、Spat、Map）相关场景，后期会添加V2V相关场景
//场景PB:包括 RV HV(V2V) V2I（Rsi、Rsm、Spat、Map）相关场景
//预警事件 RSI Warning event
message RsiWarningData {
int32 status = 1; /* 状态信息，0：更新，1：添加，2：删除 */
//int32 warning_num = 2; /* 预警信息数量 */
repeated RsiWarning warningMsg = 2; /* 预警信息集合 */
}
@@ -34,3 +33,16 @@ message MapMatchData{
double speedMaxLimit = 6; /* 建议最大车速，单位(m/s) */
double speedMinLimit = 7; /* 建议最小车速，单位(m/s) */
}
//自车信息
message HvBasicsData{
int32 status = 1; /* 状态信息，0：更新，1：添加，2：删除 */
VehicleBasics vehBasicsMsg = 2; /* 自车基础运行信息 */
}
//他车数据包括 V2V预警信息
message RvWarningData{
int32 status = 1; /* 状态信息，0：更新，1：添加，2：删除 */
VehicleBasics vehBasicsMsg = 2; /* 临车基础运行信息 */
V2xWarning warningMsg = 3; /* V2V预警信息 */
}

31
libraries/mogo-obu/build.gradle
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@@ -1,6 +1,5 @@
plugins {
id 'com.android.library'
id 'com.google.protobuf'
}
android {
@@ -21,31 +20,6 @@ android {
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
}
}
sourceSets {
main {
proto {
srcDir 'src/main/proto'
include '**/*.proto'
}
}
}
protobuf {
protoc {
artifact = rootProject.ext.dependencies.protoc
}
generateProtoTasks {
all().each { task ->
task.builtins {
remove java
}
task.builtins {
java {}
}
}
}
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_8
@@ -54,8 +28,7 @@ android {
}
dependencies {
api project(':libraries:mogo-adas-data')
api rootProject.ext.dependencies.protobuf_java
api rootProject.ext.dependencies.protobuf_java_util
implementation project(':libraries:mogo-adas-data')
implementation rootProject.ext.dependencies.androidxappcompat
api rootProject.ext.dependencies.mogoobu
}

825
libraries/mogo-obu/src/main/java/com/zhidao/support/obu/ObuManager.java Normal file
View File

@@ -0,0 +1,825 @@
package com.zhidao.support.obu;
import android.content.Context;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.support.obu.MogoObuManager;
import com.mogo.support.obu.ObuBase;
import com.mogo.support.obu.ObuScene;
import com.mogo.support.obu.OnMogoObuListener;
import com.mogo.support.obu.constants.MogoObuConstants;
import com.mogo.support.obu.constants.MogoObuTopicId;
import com.mogo.support.obu.model.MogoObuHvBasicsData;
import com.mogo.support.obu.model.MogoObuMapMathData;
import com.mogo.support.obu.model.MogoObuRsiWarningData;
import com.mogo.support.obu.model.MogoObuRsmWarningData;
import com.mogo.support.obu.model.MogoObuRvWarningData;
import com.mogo.support.obu.model.MogoObuSpatWarningData;
import com.mogo.support.obu.model.advance.AccFourAxes;
import com.mogo.support.obu.model.advance.DateTime;
import com.mogo.support.obu.model.advance.NodeId;
import com.mogo.support.obu.model.advance.Participant;
import com.mogo.support.obu.model.advance.PositionLLV;
import com.mogo.support.obu.model.advance.RsiWarning;
import com.mogo.support.obu.model.advance.SpatLight;
import com.mogo.support.obu.model.advance.V2xWarning;
import com.mogo.support.obu.model.advance.VehBasics;
import com.mogo.support.obu.model.advance.VehControl;
import com.mogo.support.obu.model.advance.VehSize;
import com.mogo.support.obu.model.advance.VerticalLLV;
import com.mogo.support.obu.model.advance.WarningData;
import com.mogo.support.obu.option.MogoObuLog;
import com.mogo.support.obu.option.MogoObuOptions;
import com.mogo.support.obu.upgrade.OnUpgradeListener;
import java.util.List;
import java.util.Set;
import mogo.telematics.pad.MessagePad;
public class ObuManager {
private static final String TAG = ObuManager.class.getSimpleName();
private static volatile ObuManager INSTANCE;
private OnObuListener listener;
public static ObuManager getInstance() {
if (INSTANCE == null) {
synchronized (ObuManager.class) {
if (INSTANCE == null) {
INSTANCE = new ObuManager();
}
}
}
return INSTANCE;
}
/**
* 获取当前连接状态
*
* @return 连接状态
* @since 1.0.0
*/
public int getConnectStatus() {
return MogoObuManager.getInstance().getConnectStatus();
}
/**
* 获取已连接的OBU IP 断开连接会置null
*
* @return IP
* @since 1.0.0
*/
public String getConnectedIp() {
return MogoObuManager.getInstance().getConnectedIp();
}
/**
* 获取已连接的OBU 端口 断开连接会置null
*
* @return 端口
* @since 1.0.0
*/
public int getConnectedPort() {
return MogoObuManager.getInstance().getConnectedPort();
}
/**
* 获取当前SDK版本
*
* @return 版本
* @since 1.0.0
*/
public String getVersion() {
return MogoObuManager.getInstance().getVersion();
}
/**
* 获取当前SO版本号
*
* @return 版本 未连接为null
* @since 1.0.0
*/
public String getSoVersion() {
return MogoObuManager.getInstance().getSoVersion();
}
/**
* 获取当前OBU软件版本
* 需主动调用获取{@link MogoObuManager#getObuVersion(Context, String, OnUpgradeListener)}
*
* @return 版本 null表示 无法连接OBU；无法获取版本；
* @since 1.1.0
*/
@Nullable
public String getObuVersion() {
return MogoObuManager.getInstance().getObuVersion();
}
/**
* 获取已注册的 Topic ID
*
* @return Topic ID
* @since 1.0.0
*/
public List<MogoObuTopicId> getRegisteredTopicId() {
return MogoObuManager.getInstance().getRegisteredTopicId();
}
/**
* 获取未注册的 Topic ID
*
* @return Topic ID
* @since 1.0.0
*/
public List<MogoObuTopicId> getUnregisteredTopicId() {
return MogoObuManager.getInstance().getUnregisteredTopicId();
}
/**
* 注册回调 包括连接状态以及数据回调
*
* @param obuListener 数据回调接口
* @since 1.0.0
*/
public void registerObuListener(OnObuListener obuListener) {
this.listener = obuListener;
MogoObuManager.getInstance().registerMogoObuListener(mogoObuListener);
}
/**
* 取消注册
*
* @since 1.0.0
*/
public void unregisterObuListener() {
MogoObuManager.getInstance().unregisterMogoObuListener();
listener = null;
}
/**
* 连接
* 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
* 异步结果回调回调顺序 每次一种类型
* 1.result.function == MogoObuConstants.CALL_FUNCTION.CONFIG onMogoObuCallResult(MogoObuCallConfigResult result) 连接配置或日志配置（如果有配置）
* 2.result.function == MogoObuConstants.CALL_FUNCTION.INIT onMogoObuCallResult(MogoObuCallResult result) 初始化，进行连接操作
* 3.result.function == MogoObuConstants.CALL_FUNCTION.TOPIC_REGIST onMogoObuCallResult(MogoObuCallRegisterResult result) 注册Topic ID（如果有配置）
*
* @param options 参数
* @since 1.0.0
*/
public void connect(MogoObuOptions options) {
MogoObuManager.getInstance().connect(options);
}
/**
* 断开连接
* 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
*
* @since 1.0.1
*/
public void disconnect() {
MogoObuManager.getInstance().disconnect();
}
/**
* 注册Topic
* 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
* result.function == MogoObuConstants.CALL_FUNCTION.TOPIC_REGIST onMogoObuCallResult(MogoObuCallRegisterResult result)
* 此版本支持的Topic ID
* MogoObuTopicId.HV_BASIC
* MogoObuTopicId.RV_WARNING
* MogoObuTopicId.SPAT_WARNING
* MogoObuTopicId.RSI_WARNING
* MogoObuTopicId.RSM_WARNING
* MogoObuTopicId.MAP_MATCH
*
* @param topicId id
* @since 1.0.0
*/
public void registerTopic(MogoObuTopicId topicId) {
MogoObuManager.getInstance().registerTopic(topicId);
}
/**
* 注册多个Topic
* 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
* result.function == MogoObuConstants.CALL_FUNCTION.TOPIC_REGIST onMogoObuCallResult(MogoObuCallRegisterResult result)
* 此版本支持的Topic ID
* MogoObuTopicId.HV_BASIC
* MogoObuTopicId.RV_WARNING
* MogoObuTopicId.SPAT_WARNING
* MogoObuTopicId.RSI_WARNING
* MogoObuTopicId.RSM_WARNING
* MogoObuTopicId.MAP_MATCH
*
* @param topicIds ids
* @since 1.0.0
*/
public void registerTopic(Set<MogoObuTopicId> topicIds) {
MogoObuManager.getInstance().registerTopic(topicIds);
}
/**
* 取消注册Topic
* 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
*
* @param topicId id
* @since @since 1.0.1
*/
public void unregisterTopic(MogoObuTopicId topicId) {
MogoObuManager.getInstance().unregisterTopic(topicId);
}
/**
* 取消注册多个Topic
* 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
*
* @param topicIds ids
* @since 1.0.1
*/
public void unregisterTopic(Set<MogoObuTopicId> topicIds) {
MogoObuManager.getInstance().unregisterTopic(topicIds);
}
/**
* OBU SDK 日志配置
* 支持日志输出至LogCat和写入文件
* 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
* result.function == MogoObuConstants.CALL_FUNCTION.CONFIG onMogoObuCallResult(MogoObuCallConfigResult result) 日志配置
*
* @param log 日志配置
* @since 1.0.0
*/
public void logConfig(MogoObuLog log) {
MogoObuManager.getInstance().logConfig(log);
}
/**
* 配置Android日志
*
* @param isEnableLog 是否开启日志输出
* @since 1.0.0
*/
public void setEnableLog(boolean isEnableLog) {
MogoObuManager.getInstance().setEnableLog(isEnableLog);
}
/**
* 检查更新
*
* @param obuIp OBU IP
* @param listener 升级回调
* @since 1.1.0
*/
public boolean checkObuUpgrade(@NonNull Context context, @NonNull String obuIp, OnUpgradeListener listener) {
return MogoObuManager.getInstance().checkObuUpgrade(context, obuIp, listener);
}
/**
* 检查更新
*
* @param context 上下文
* @param obuIp OBU IP
* @param isUpgradeNow 是否立即升级
* false：OBU设备下次上电时执行升级程序
* ture: OBU设备立即执行升级程序 TODO 警告：执行立即升级时请确保车辆是静止状态。车辆在运行过程中升级设备可能会影响驾驶，严重时可能造成安全隐患！！！
* @param listener 升级回调
* @return 是否调用成功
* @since 1.1.0
*/
public boolean checkObuUpgrade(@NonNull Context context, @NonNull String obuIp, boolean isUpgradeNow, OnUpgradeListener listener) {
return MogoObuManager.getInstance().checkObuUpgrade(context, obuIp, isUpgradeNow, listener);
}
/**
* 获取当前连接OBU的版本号
* 如果调用 {@link MogoObuManager#checkObuUpgrade(Context, String, OnUpgradeListener)}方法可以不用调用此方法，检查更新会获取版本号
*
* @param context 上下文
* @param obuIp OBU IP
* @param listener 升级回调
* @return 是否调用成功
* @since 1.1.0
*/
public boolean getObuVersion(@NonNull Context context, @NonNull String obuIp, OnUpgradeListener listener) {
return MogoObuManager.getInstance().getObuVersion(context, obuIp, listener);
}
/**
* 传入升级包版本
*
* @param newVersion 升级包版本
* @since 1.1.0
*/
public void setObuUpgradePackageVersion(@NonNull String newVersion) {
MogoObuManager.getInstance().setObuUpgradePackageVersion(newVersion);
}
/**
* 传入升级包
*
* @param newUpgradePackage 升级包文件绝对路径 只能包含 升级包MD5文件和升级包文件
* @since 1.1.0
*/
public void setObuUpgradePackage(@NonNull String[] newUpgradePackage) {
MogoObuManager.getInstance().setObuUpgradePackage(newUpgradePackage);
}
/**
* 停止升级或停止版本查询
*
* @since 1.1.0
*/
public void stopObuUpgrade() {
MogoObuManager.getInstance().stopObuUpgrade();
}
private final OnMogoObuListener mogoObuListener = new OnMogoObuListener() {
@Override
public void onConnectStatus(int connectStatus) {
if (listener != null) {
listener.onConnectStatus(connectStatus);
}
}
@Override
public void onMogoObuHvBasics(MogoObuHvBasicsData data) {
if (listener != null) {
// ObuScene.HvBasicsData.Builder builder = ObuScene.HvBasicsData.newBuilder();
// builder.setStatus(data.getStatus());
VehBasics vehBasics = data.getVehBasicsMsg();
// if (vehBasics != null) {
// builder.setVehBasicsMsg(getVehBasics(vehBasics));
// }
// listener.onObuHvBasics(builder.build());
//转工控机PB 赋值的包括 satelliteTime systemTime latitude longitude altitude heading gnssSpeed acceleration vehicleSpeed 未赋值：yawRate
if (vehBasics != null) {
MessagePad.GnssInfo.Builder gnssInfoBuilder = MessagePad.GnssInfo.newBuilder();
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.SEC_MARK)) {
double time = vehBasics.getSecMark() / 1000.0D;
gnssInfoBuilder.setSatelliteTime(time);
gnssInfoBuilder.setSystemTime(time);
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.LATITUDE)) {
gnssInfoBuilder.setLatitude(vehBasics.getLatitude());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.LONGITUDE)) {
gnssInfoBuilder.setLongitude(vehBasics.getLongitude());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ELEVATION)) {
gnssInfoBuilder.setAltitude(vehBasics.getElevation());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.SPEED)) {
gnssInfoBuilder.setGnssSpeed(vehBasics.getSpeed());
gnssInfoBuilder.setVehicleSpeed(vehBasics.getSpeed());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.HEADING)) {
gnssInfoBuilder.setHeading(vehBasics.getHeading());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ACC_FOUR_AXES)) {
AccFourAxes accFourAxes = vehBasics.getAccFourAxes();
if (accFourAxes != null) {
gnssInfoBuilder.setAcceleration(accFourAxes.getAccLng());
}
}
listener.onGnssInfo(gnssInfoBuilder.build());
}
}
}
@Override
public void onMogoObuRvWarning(MogoObuRvWarningData data) {
super.onMogoObuRvWarning(data);
if (listener != null) {
ObuScene.RvWarningData.Builder builder = ObuScene.RvWarningData.newBuilder();
builder.setStatus(data.getStatus());
VehBasics vehBasics = data.getVehBasicsMsg();
if (vehBasics != null) {
builder.setVehBasicsMsg(getVehBasics(vehBasics));
}
V2xWarning v2xWarning = data.getWarningMsg();
if (v2xWarning != null) {
builder.setWarningMsg(getV2xWarning(v2xWarning));
}
listener.onObuRvWarning(builder.build());
}
}
@Override
public void onMogoObuSpatWarning(MogoObuSpatWarningData data) {
super.onMogoObuSpatWarning(data);
if (listener != null) {
ObuScene.SpatWarningData.Builder builder = ObuScene.SpatWarningData.newBuilder();
builder.setStatus(data.getStatus()).setWarningType(data.getWarningType());
List<SpatLight> lights = data.getLights();
if (lights != null && !lights.isEmpty()) {
for (SpatLight light : lights) {
builder.addLights(ObuBase.SpatLight.newBuilder()
.setPhaseID(light.getPhaseId())
.setManeuvers(light.getManeuvers())
.setLight(light.getLight())
.setCountDown(light.getCountDown())
.setSuggestMaxSpeed(light.getSuggestMaxSpeed())
.setSuggestMinSpeed(light.getSuggestMinSpeed()));
}
}
listener.onObuSpatWarning(builder.build());
}
}
@Override
public void onMogoObuRsiWarning(MogoObuRsiWarningData data) {
super.onMogoObuRsiWarning(data);
if (listener != null) {
ObuScene.RsiWarningData.Builder builder = ObuScene.RsiWarningData.newBuilder();
builder.setStatus(data.getStatus());
List<RsiWarning> list = data.getWarningMsg();
if (list != null && !list.isEmpty()) {
for (RsiWarning warning : list) {
ObuBase.RsiWarning.Builder rsiBuilder = ObuBase.RsiWarning.newBuilder();
rsiBuilder.setUnitMask(warning.getUnitMask());
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.SCENE_TYPE)) {
rsiBuilder.setSceneType(warning.getSceneType());
}
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.POSITION)) {
PositionLLV positionLLV = warning.getPosition();
int present = positionLLV.getPresent();//由于OBU数据没有给偏移量默认使用的是7
double longitude = positionLLV.getLongitude();
double latitude = positionLLV.getLatitude();
ObuBase.PositionOffset.Builder positionOffsetBuilder = ObuBase.PositionOffset.newBuilder();
if (present == 1) {
positionOffsetBuilder.setPositionLL1(ObuBase.PositionLL1.newBuilder()
.setLongitude(longitude)
.setLatitude(latitude));
} else if (present == 2) {
positionOffsetBuilder.setPositionLL2(ObuBase.PositionLL2.newBuilder()
.setLongitude(longitude)
.setLatitude(latitude));
} else if (present == 3) {
positionOffsetBuilder.setPositionLL3(ObuBase.PositionLL3.newBuilder()
.setLongitude(longitude)
.setLatitude(latitude));
} else if (present == 4) {
positionOffsetBuilder.setPositionLL4(ObuBase.PositionLL4.newBuilder()
.setLongitude(longitude)
.setLatitude(latitude));
} else if (present == 5) {
positionOffsetBuilder.setPositionLL5(ObuBase.PositionLL5.newBuilder()
.setLongitude(longitude)
.setLatitude(latitude));
} else if (present == 6) {
positionOffsetBuilder.setPositionLL6(ObuBase.PositionLL6.newBuilder()
.setLongitude(longitude)
.setLatitude(latitude));
} else {
positionOffsetBuilder.setPositionLatLon(ObuBase.PositionLatLon.newBuilder()
.setLongitude(longitude)
.setLatitude(latitude));
}
VerticalLLV verticalLLV = positionLLV.getVertical();
present = verticalLLV.getPresent();//由于OBU数据没有给偏移量默认使用的是7
double elevation = verticalLLV.getElevation();
ObuBase.VerticalLLV.Builder verticalLLVBuilder = ObuBase.VerticalLLV.newBuilder();
if (present == 1) {
verticalLLVBuilder.setOffset1(elevation);
} else if (present == 2) {
verticalLLVBuilder.setOffset2(elevation);
} else if (present == 3) {
verticalLLVBuilder.setOffset3(elevation);
} else if (present == 4) {
verticalLLVBuilder.setOffset4(elevation);
} else if (present == 5) {
verticalLLVBuilder.setOffset5(elevation);
} else if (present == 6) {
verticalLLVBuilder.setOffset6(elevation);
} else {
verticalLLVBuilder.setElevation(elevation);
}
rsiBuilder.setPosition(ObuBase.PositionLLV.newBuilder()
.setPosition(positionOffsetBuilder)
.setVertical(verticalLLVBuilder));
}
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.SIGN_SERIAL_NUM)) {
rsiBuilder.setSignSerialNum(warning.getSignSerialNum());
}
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.EVENT_SERIAL_NUM)) {
rsiBuilder.setEventSerialNum(warning.getEventSerialNum());
}
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.SPEED_MAX_LIMIT)) {
rsiBuilder.setSpeedMaxLimit(warning.getSpeedMaxLimit());
}
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.SPEED_MIN_LIMIT)) {
rsiBuilder.setSpeedMinLimit(warning.getSpeedMinLimit());
}
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.EVENT_RADIUS)) {
rsiBuilder.setEventRadius(warning.getEventRadius());
}
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.WARNING_LEVEL)) {
rsiBuilder.setWarningLevel(warning.getWarningLevel());
}
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.TARGET_POSITION)) {
rsiBuilder.setTargetPosition(warning.getTargetPosition());
}
if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.DISTANCE)) {
rsiBuilder.setDistance(warning.getDistance());
}
builder.addWarningMsg(rsiBuilder);
}
}
listener.onObuRsiWarning(builder.build());
}
}
@Override
public void onMogoObuRsmWarning(MogoObuRsmWarningData data) {
super.onMogoObuRsmWarning(data);
if (listener != null) {
ObuScene.RsmWarningData.Builder builder = ObuScene.RsmWarningData.newBuilder();
builder.setStatus(data.getStatus());
Participant participant = data.getParticipant();
if (participant != null) {
ObuBase.Participant.Builder participantBuilder = ObuBase.Participant.newBuilder();
participantBuilder.setPtcType(participant.getPtcType())
.setPtcId(participant.getPtcId())
.setSource(participant.getSource())
.setSecMark(participant.getSecMark())
.setLatitude(participant.getLatitude())
.setLongitude(participant.getLongitude())
.setSpeed(participant.getSpeed())
.setHeading(participant.getHeading());
AccFourAxes accFourAxes = participant.getAccFourAxes();
if (accFourAxes != null) {
participantBuilder.setAccFourAxes(getAccFourAxes(accFourAxes));
}
VehSize vehicleSize = participant.getPtcSize();
if (vehicleSize != null) {
participantBuilder.setPtcSize(getVehSize(vehicleSize));
}
participantBuilder.setVehicleClass(participant.getVehicleClass())
.setTargetPosition(participant.getTargetPosition());
builder.setParticipant(participantBuilder);
}
V2xWarning v2xWarning = data.getWarningMsg();
if (v2xWarning != null) {
builder.setWarningMsg(getV2xWarning(v2xWarning));
}
listener.onObuRsmWarning(builder.build());
}
}
@Override
public void onMogoObuMapMath(MogoObuMapMathData data) {
super.onMogoObuMapMath(data);
if (listener != null) {
ObuScene.MapMatchData.Builder builder = ObuScene.MapMatchData.newBuilder();
builder.setStatus(data.getStatus()).setUnitMask(data.getUnitMask());
if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.CURRENT_NODE_ID)) {
NodeId nodeId = data.getCurrentNodeId();
if (nodeId != null) {
builder.setCurrentNodeID(ObuBase.NodeId.newBuilder()
.setRegion(nodeId.getRegion())
.setId(nodeId.getId()));
}
}
if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.UPSTREAM_NODE_ID)) {
NodeId nodeId = data.getUpstreamNodeId();
if (nodeId != null) {
builder.setUpstreamNodeID(ObuBase.NodeId.newBuilder()
.setRegion(nodeId.getRegion())
.setId(nodeId.getId()));
}
}
if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.MATCHING_LANE_ID)) {
builder.setMatchingLaneID(data.getMatchingLaneId());
}
if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.SPEED_MAX_LIMIT)) {
builder.setSpeedMaxLimit(data.getSpeedMaxLimit());
}
if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.SPEED_MIN_LIMIT)) {
builder.setSpeedMinLimit(data.getSpeedMinLimit());
}
listener.onObuMapMath(builder.build());
}
}
};
private ObuBase.AccFourAxes.Builder getAccFourAxes(AccFourAxes accFourAxes) {
return ObuBase.AccFourAxes.newBuilder()
.setAccLng(accFourAxes.getAccLng())
.setAccLat(accFourAxes.getAccLat())
.setAccVert(accFourAxes.getAccVert())
.setAccYaw(accFourAxes.getAccYaw());
}
private ObuBase.VehicleSize.Builder getVehSize(VehSize vehSize) {
return ObuBase.VehicleSize.newBuilder()
.setWidth(vehSize.getWidth())
.setLength(vehSize.getLength())
.setHeight(vehSize.getHeight());
}
private ObuBase.VehicleBasics.Builder getVehBasics(VehBasics vehBasics) {
ObuBase.VehicleBasics.Builder builder = ObuBase.VehicleBasics.newBuilder();
builder.setUnitMask(vehBasics.getUnitMask());
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ID)) {
builder.setId(vehBasics.getId());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.SEC_MARK)) {
builder.setSecMark(vehBasics.getSecMark());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.LATITUDE)) {
builder.setLatitude(vehBasics.getLatitude());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.LONGITUDE)) {
builder.setLongitude(vehBasics.getLongitude());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ELEVATION)) {
builder.setElevation(vehBasics.getElevation());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.SPEED)) {
builder.setSpeed(vehBasics.getSpeed());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.HEADING)) {
builder.setHeading(vehBasics.getHeading());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ACC_FOUR_AXES)) {
AccFourAxes accFourAxes = vehBasics.getAccFourAxes();
if (accFourAxes != null) {
builder.setAccFourAxes(getAccFourAxes(accFourAxes));
}
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.VEH_SIZE)) {
VehSize vehicleSize = vehBasics.getVehSize();
if (vehicleSize != null) {
builder.setVehSize(getVehSize(vehicleSize));
}
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.VEH_CLASS)) {
builder.setVehClass(vehBasics.getVehClass());
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.VEH_CONTROL_MSG)) {
VehControl vehControl = vehBasics.getVehControlMsg();
if (vehControl != null) {
ObuBase.VehicleControl.Builder vehicleControlBuilder = ObuBase.VehicleControl.newBuilder();
vehicleControlBuilder.setUnitMask(vehControl.getUnitMask());
if (vehControl.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_CONTROL.BRAKE_PEDAL_STATUS)) {
vehicleControlBuilder.setBrakePedalStatus(vehControl.getBrakePedalStatus());
}
if (vehControl.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_CONTROL.TRANSMISSION_STATUS)) {
vehicleControlBuilder.setTransmissionStatus(vehControl.getTransmissionStatus());
}
if (vehControl.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_CONTROL.EXTERIOR_LIGHTS)) {
vehicleControlBuilder.setExteriorLights(vehControl.getExteriorLights());
}
builder.setVehControlMsg(vehicleControlBuilder);
}
if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.TARGET_POSITION)) {
builder.setTargetPosition(vehBasics.getTargetPosition());
}
}
return builder;
}
private ObuBase.V2xWarning.Builder getV2xWarning(V2xWarning v2xWarning) {
ObuBase.V2xWarning.Builder builder = ObuBase.V2xWarning.newBuilder();
builder.setUnitMask(v2xWarning.getUnitMask());
if (v2xWarning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING.WARNING_DATA)) {
List<WarningData> list = v2xWarning.getWarningData();
if (list != null && !list.isEmpty()) {
for (WarningData warningData : list) {
ObuBase.WarningData.Builder warningDataBuilder = ObuBase.WarningData.newBuilder();
warningDataBuilder.setUnitMask(warningData.getUnitMask());
if (warningData.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING_DATA.STATUS)) {
warningDataBuilder.setStatus(warningData.getStatus());
}
if (warningData.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING_DATA.WARNING_TYPE)) {
warningDataBuilder.setWarningType(warningData.getWarningType());
}
if (warningData.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING_DATA.WARNING_LEVEL)) {
warningDataBuilder.setWarningLevel(warningData.getWarningLevel());
}
if (warningData.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING_DATA.WARNING_PRIORITY)) {
warningDataBuilder.setWarningPriority(warningData.getWarningPriority());
}
builder.addWarningData(warningDataBuilder);
}
}
}
if (v2xWarning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING.WARNING_TIME)) {
DateTime dateTime = v2xWarning.getWarningTime();
if (dateTime != null) {
builder.setWarningTime(ObuBase.DateTime.newBuilder()
.setYear(dateTime.getYear())
.setMonth(dateTime.getMonth())
.setDay(dateTime.getDay())
.setHour(dateTime.getHour())
.setMinute(dateTime.getMinute())
.setMillisecond(dateTime.getMillisecond())
.setOffset(dateTime.getOffset())
);
}
}
if (v2xWarning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING.DISTANCE)) {
builder.setDistance(v2xWarning.getDistance());
}
return builder;
}
/**
* RV数据转换为转工控机障碍物数据
* 赋值的包括：uuid strUuid systemTime satelliteTime latitude longitude altitude speed heading tracked_source.source type
*
* @param rvWarningData OBU RV数据
* @return 工控机障碍物数据
*/
public MessagePad.TrackedObject obuRvToTrackedObject(ObuScene.RvWarningData rvWarningData) {
if (rvWarningData != null && rvWarningData.hasVehBasicsMsg()) {
ObuBase.VehicleBasics vehBasics = rvWarningData.getVehBasicsMsg();
MessagePad.TrackedObject.Builder trackedObjectBuilder = MessagePad.TrackedObject.newBuilder();
trackedObjectBuilder.setUuid(vehBasics.getId().hashCode());
trackedObjectBuilder.setStrUuid(vehBasics.getId());
double time = vehBasics.getSecMark() / 1000.0D;
trackedObjectBuilder.setSatelliteTime(time);
trackedObjectBuilder.setSystemTime(time);
trackedObjectBuilder.setLatitude(vehBasics.getLatitude());
trackedObjectBuilder.setLongitude(vehBasics.getLongitude());
trackedObjectBuilder.setAltitude(vehBasics.getElevation());
trackedObjectBuilder.setSpeed(vehBasics.getSpeed());
trackedObjectBuilder.setHeading(vehBasics.getHeading());
trackedObjectBuilder.addTrackedSource(MessagePad.TrackedSource.newBuilder().setSource(2));
/**
* 0 未知车辆
* 1 特殊用途车辆
* 10 乘用车类型（default type）
* 20 轻卡（default type）
* 25 卡车（default type）
* 27 卡车（Two axle, six tire single units）
* 28 卡车（ Three axle, single units）
* 29 卡车（ Four or more axle, single unit）
* 30 拖挂车（Four or less axle, single trailer）
* 31 拖挂车（Four or less axle, single trailer）
* 32 拖挂车（Six or more axle, single trailer）
* 33 多轴拖挂车（ Five or less axle, multi-trailer）
* 34 多轴拖挂车（ Six axle, multi-trailer）
* 35 多轴拖挂车（Seven or more axle, multi-trailer）
* 40 摩托车（default type）
* 42 摩托车（motorcycle-Cruiser-Standard）
* 43 摩托车（motorcycle - Sport Unclad）
* 44 摩托车（motorcycle - Sport Touring）
* 45 摩托车（motorcycle - Super Sport）
* 46 摩托车（motorcycle-Touring）
* 47 摩托车（motorcycle-Trike）
* 48 摩托车（motorcycle - w Passengers）
* 50 公交车（ default type）
* 52 公交车（transit-BRT）
* 53 公交车（transit-ExpressBus）
* 54 公交车（transit-LocalBus）
* 55 公交车（transit-SchoolBus）
* 56 公交车（transit-FixedGuideway）
* 57 公交车（transit-Paratransit）
* 58 公交车（transit-Paratransit-Ambulance）
* 60 紧急车辆（default type）
* 62 紧急车辆（emergency-Fire-Light）
* 63 紧急车辆（emergency-Fire-Heavy）
* 64 紧急车辆（emergency-Fire-Paramedic）
* 65 紧急车辆（emergency-Fire-Ambulance）
* 66 紧急车辆（emergency-Police-Light）
* 67 紧急车辆（emergency-Police-Heavy）
* 68 紧急车辆（emergency-Other-Responder）
* 69 紧急车辆（emergency-Other-Ambulance）
* 80 其他配备 V2X 的道路参与者（default type）
* 82 其他配备 V2X 的道路参与者（otherTraveler-Pedestrian）
* 83 其他配备 V2X 的道路参与者（otherTraveler-Visually-Disabled）
* 84 其他配备 V2X 的道路参与者（otherTraveler-Physically-Disabled）
* 85 其他配备 V2X 的道路参与者（otherTraveler-Bicycle）
* 86 其他配备 V2X 的道路参与者（otherTraveler-Vulnerable-Roadworker）
*/
int vehClass = vehBasics.getVehClass();
if (vehClass >= 20 && vehClass < 30) {//卡车 20 25 27 28 29
vehClass = 8;
} else if (vehClass >= 40 && vehClass < 50) {//摩托车 40 42 43 44 45 46 47 48
vehClass = 4;
} else if (vehClass >= 50 && vehClass < 60) {//公交车 50 52 53 54 55 56 57 58
vehClass = 6;
} else if (vehClass == 82) {//其他配备 V2X 的道路参与者（otherTraveler-Pedestrian）
vehClass = 1;
} else if (vehClass == 85) {//其他配备 V2X 的道路参与者（otherTraveler-Bicycle）
vehClass = 2;
} else {
vehClass = 3;
}
trackedObjectBuilder.setType(vehClass);
return trackedObjectBuilder.build();
}
return null;
}
}

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package com.zhidao.support.obu;
import com.mogo.support.obu.ObuScene;
import com.mogo.support.obu.constants.Define;
import mogo.telematics.pad.MessagePad;
public interface OnObuListener {
/**
* 连接状态
*
* @param connectStatus 连接状态
*/
void onConnectStatus(@Define.ConnectStatus int connectStatus);
/**
* HV车辆基础信息
*
* @param hvBasicsData 数据
*/
// void onObuHvBasics(ObuScene.HvBasicsData hvBasicsData);
/**
* HV车辆基础信息转工控机自车数据格式
*
* @param gnssInfo 数据
*/
void onGnssInfo(MessagePad.GnssInfo gnssInfo);
/**
* V2V预警信息
* OBU RV数据转工控机障碍物数据：{@link ObuManager#obuRvToTrackedObject(ObuScene.RvWarningData)}
*
* @param rvWarningData 数据
*/
void onObuRvWarning(ObuScene.RvWarningData rvWarningData);
/**
* OBU 红绿灯预警信息
*
* @param spatWarningData 数据
*/
void onObuSpatWarning(ObuScene.SpatWarningData spatWarningData);
/**
* OBU RSI预警信息
*
* @param rsiWarningData 数据
*/
void onObuRsiWarning(ObuScene.RsiWarningData rsiWarningData);
/**
* OBU RSM预警信息
*
* @param rsmWarningData 数据
*/
void onObuRsmWarning(ObuScene.RsmWarningData rsmWarningData);
/**
* OBU 地图匹配结果
*
* @param mapMatchData 数据
*/
void onObuMapMath(ObuScene.MapMatchData mapMatchData);
}