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[change] badcase 功能添加查询和接收配置接口，启动录制bag包接口加入前溯时间参数

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This commit is contained in:
xinfengkun
2022-07-06 16:11:32 +08:00
parent 1fb5a1dba4
commit 69fa5441f9
15 changed files with 244 additions and 49 deletions
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29
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -3,7 +3,7 @@ package mogo.telematics.pad;
enum ProtocolVersion{
Defaultver = 0;
CurrentVersion = 3; //每次修改proto文件增加1
CurrentVersion = 4; //每次修改proto文件增加1
}
enum MessageType
@@ -20,6 +20,7 @@ enum MessageType
MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
MsgTypePointCloud = 0x10008; //点云透传
MsgTypePlanningObjects = 0x10009; //planning障碍物
MsgTypeOBU = 0x1000a; //OBU
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -41,6 +42,8 @@ enum MessageType
MsgTypeStatusQueryReq = 0x10111; //状态查询请求
MsgTypeStatusQueryResp = 0x10112; //状态查询应答
MsgTypeSetRainModeReq = 0x10113; //设置雨天模式
MsgTypeRecordDataConfigReq = 0x10114; //数据采集配置查询请求
MsgTypeRecordDataConfigResp = 0x10115; //数据采集配置查询应答
}
message Header
@@ -150,6 +153,9 @@ message PlanningObjects
repeated PlanningObject objs = 1;
}
// message definition for MessageType: MsgTypeOBU
// refer to obu.proto
// message definition for MsgTypeTrajectoryDownloadReq
message Line
{
@@ -250,6 +256,7 @@ message RecordData
uint32 type = 3; //采集类型, 1:badcase, 2: map; 3: rests
bool isRecord = 4; //采集指令, true: 采集, false: 停止采集
bool sustain = 5; //是否持续采集
uint32 bduration = 6; //前溯时长
}
// message definition for MsgTypeRecordResult
@@ -299,7 +306,7 @@ message TrafficLightData
int32 arrowNo = 8; //当前车道对应地面要素转向
int32 flashYellow = 9; //黄灯总时间
TrafficLightDetail laneDetail = 10; //灯态具体信息
uint64 timestamp =11;//当前卫星时间, 单位: ms
uint64 timestamp = 11;//当前卫星时间, 单位: ms
}
// message definition for MsgTypeWarn
@@ -345,3 +352,21 @@ message SetRainModeReq
uint32 enable = 1; //1: enable, 0: disable
}
// message definition for MsgTypeRecordDataConfigReq
message RecordDataConfigReq
{
uint32 reqType = 1; // 0: all, 其他保留
}
// message definition for MsgTypeRecordDataConfigResp
message RecordDataType
{
uint32 id = 1; //采集类型id
string desc = 2; //采集类型描述
}
message RecordDataConfig
{
repeated RecordDataType recordTypes = 1;
}

2
libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
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@@ -14,4 +14,4 @@ message MogoPointCloud
optional double self_yaw = 7;
repeated uint32 del_data = 8 [packed=true];
repeated double add_data = 9 [packed=true];
}
}

17
libraries/mogo-adas-data/src/main/proto/obu.proto Normal file
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@@ -0,0 +1,17 @@
syntax = "proto3";
package mogo.telematics.pad;
//第三方OBU接入
import "header.proto";
enum Type{
Default = 0;
DF_OBU = 1;//宜宾东风OBU msg格式:Json字符串
}
message Obu
{
common.Header header = 1;
Type type = 2;//第三方类型 目前只有东风OBU
bytes msg = 3;//OBU 数据
}

46
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -729,17 +729,22 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
@Override
public boolean startRecordPackage(int id, int type) {
return sendRecordData(id, 0, type, true);
return sendRecordData(id, 0, type, true, -1);
}
@Override
public boolean startRecordPackage(int id, int duration, int type) {
return sendRecordData(id, duration, type, true);
return sendRecordData(id, duration, type, true, -1);
}
@Override
public boolean startRecordPackage(int id, int duration, int type, int bduration) {
return sendRecordData(id, duration, type, true, bduration);
}
@Override
public boolean stopRecordPackage(int id, int type) {
return sendRecordData(id, 0, type, false);
return sendRecordData(id, 0, type, false, -1);
}
@@ -747,14 +752,16 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 数据采集请求 主动录制Bag包
* sustain为true时 duration无效
*
* @param id 采集id
* @param duration 采集时间长 Max:5*60 秒
* @param type 采集类型, 1:badCase, 2: map; 3: rests
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param id 采集id
* @param duration 采集时间长 Max:5*60 秒
* @param type 采集类型, 1:badCase, 2: map; 3: rests
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param bduration 前溯时长
* @param sustain 是否持续采集
* @return boolean
*/
@Override
public boolean sendRecordData(int id, int duration, int type, boolean isRecord) {
public boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration) {
boolean sustain = false;
if (isRecord) {
if (duration <= 0) {
@@ -762,14 +769,17 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
sustain = true;
}
}
MessagePad.RecordData req = MessagePad.RecordData
MessagePad.RecordData.Builder builder = MessagePad.RecordData
.newBuilder()
.setId(id)
.setDuration(duration)
.setType(type)
.setIsRecord(isRecord)
.setSustain(sustain)
.build();
.setSustain(sustain);
if (bduration > -1) {
builder.setBduration(bduration);
}
MessagePad.RecordData req = builder.build();
return sendPBMessage(MessageType.TYPE_SEND_RECORD_DATA.typeCode, req.toByteArray());
}
@@ -921,5 +931,19 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
.build();
return sendPBMessage(MessageType.TYPE_SEND_SET_RAIN_MODE_REQ.typeCode, req.toByteArray());
}
/**
* 数据采集配置查询
*
* @return boolean
*/
@Override
public boolean sendRecordDataConfigReq() {
MessagePad.RecordDataConfigReq req = MessagePad.RecordDataConfigReq
.newBuilder()
.setReqType(0)
.build();
return sendPBMessage(MessageType.TYPE_SEND_RECORD_DATA_CONFIG_REQ.typeCode, req.toByteArray());
}
}

38
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -342,6 +342,18 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.startRecordPackage(id, duration, type);
}
/**
* 同下
*
* @param id
* @param type
* @return
*/
@Override
public boolean startRecordPackage(int id, int duration, int type, int bduration) {
return mChannel != null && mChannel.startRecordPackage(id, duration, type, bduration);
}
/**
* 同下
*
@@ -357,16 +369,16 @@ public class AdasManager implements IAdasNetCommApi {
/**
* 数据采集请求 主动录制Bag包
*
* @param id 采集id
* @param duration 采集时间长
* @param type 采集类型, 1:badcase, 2: map; 3: rests
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param sustain 是否持续采集
* @return
* @param id 采集id
* @param duration 采集时间长
* @param type 采集类型, 1:badcase, 2: map; 3: rests
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param bduration 前溯时长
* @return boolean
*/
@Override
public boolean sendRecordData(int id, int duration, int type, boolean isRecord) {
return mChannel != null && mChannel.sendRecordData(id, duration, type, isRecord);
public boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration) {
return mChannel != null && mChannel.sendRecordData(id, duration, type, isRecord, bduration);
}
/**
@@ -456,6 +468,16 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.sendRainModeReq(enable);
}
/**
* 数据采集配置查询
*
* @return boolean
*/
@Override
public boolean sendRecordDataConfigReq() {
return mChannel != null && mChannel.sendRecordDataConfigReq();
}
/**
* 获取工控机固定IP列表
*

31
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
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@@ -116,6 +116,17 @@ public interface IAdasNetCommApi {
*/
boolean startRecordPackage(int id, int duration, int type);
/**
* 同下
*
* @param id
* @param duration
* @param type
* @param bduration
* @return
*/
boolean startRecordPackage(int id, int duration, int type, int bduration);
/**
* 同下
*
@@ -128,13 +139,14 @@ public interface IAdasNetCommApi {
/**
* 数据采集请求 主动录制Bag包
*
* @param id 采集id
* @param duration 采集时间长
* @param type 采集类型, 1:badcase, 2: map; 3: rests
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param id 采集id
* @param duration 采集时间长
* @param type 采集类型, 1:badcase, 2: map; 3: rests
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param bduration 前溯时长
* @return boolean
*/
boolean sendRecordData(int id, int duration, int type, boolean isRecord);
boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration);
/**
* 设置自动驾驶最大速度
@@ -203,6 +215,15 @@ public interface IAdasNetCommApi {
* @return boolean
*/
boolean sendRainModeReq(int enable);
/**
* 数据采集配置查询
* 0: all, 其他保留
*
* @return boolean
*/
boolean sendRecordDataConfigReq();
// TODO 需求暂停 待讨论
// boolean getRoutes();

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -171,6 +171,14 @@ public interface OnAdasListener {
*/
void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo);
/**
* 数据采集配置应答
*
* @param header 头
* @param config 数据
*/
void onRecordDataConfigResp(MessagePad.Header header, MessagePad.RecordDataConfig config);
/**
* 数据错误
*

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
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@@ -43,7 +43,9 @@ public enum MessageType {
TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, "轨迹下载请求"),
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_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式"),
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");
/**
* 消息action code

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -29,6 +29,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg warnMessage;//预警数据
private IMsg arrivalNotificationMessage;//到站提醒
private IMsg statusQueryRespMessage;//状态查询应答
private IMsg recordDataConfigRespMessage;//数据采集配置应答
@Override
@@ -135,6 +136,12 @@ public class MyMessageFactory implements IMyMessageFactory {
statusQueryRespMessage = new StatusQueryRespMessage();
}
return statusQueryRespMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP.typeCode) {
//数据采集配置应答
if (recordDataConfigRespMessage == null) {
recordDataConfigRespMessage = new RecordDataConfigRespMessage();
}
return recordDataConfigRespMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;

21
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordDataConfigRespMessage.java Normal file
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@@ -0,0 +1,21 @@
package com.zhidao.support.adas.high.msg;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.protocol.RawData;
import mogo.telematics.pad.MessagePad;
/**
* 数据采集配置应答
*/
public class RecordDataConfigRespMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
MessagePad.RecordDataConfig config = MessagePad.RecordDataConfig.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
if (adasListener != null) {
adasListener.onRecordDataConfigResp(raw.getHeader(), config);
}
}
}