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[8.0.0][adas] 域控摄像头上传NDE云开关命令以及状态查询

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xinfengkun
2025-04-17 15:13:59 +08:00
parent a5e1db1abf
commit 7529d51e5b
9 changed files with 147 additions and 0 deletions
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6
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -1478,6 +1478,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerCloudConfigListenerManager.invokeCloudConfig(config)
}
override fun onImgUploadCloudStatusResp(
header: MessagePad.Header,
resp: MessagePad.ImgUploadCloudStatusResp
) {
}
/**
* 是否可以启动自动驾驶
* 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility

3
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
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@@ -101,6 +101,9 @@ public enum MessageType {
TYPE_RECEIVE_COPY_BAG(MessagePad.MessageType.MsgTypeCopyBag, "数据落盘响应"),
TYPE_SEND_CLOUD_CONFIG(MessagePad.MessageType.MsgTypeCloudConfig, "云端配置查询"),
TYPE_RECEIVE_CLOUD_CONFIG(MessagePad.MessageType.MsgTypeCloudConfig, "云端配置响应"),
TYPE_SEND_IMG_UPLOAD_CLOUD_ENABLE(MessagePad.MessageType.MsgTypeImgUploadCloudEnable, "摄像头上传NDE云开关"),
TYPE_SEND_IMG_UPLOAD_CLOUD_STATUS_QUERY(MessagePad.MessageType.MsgTypeImgUploadCloudStatusQuery, "摄像头上传NDE云状态查询"),
TYPE_RECEIVE_IMG_UPLOAD_CLOUD_STATUS_QUERY(MessagePad.MessageType.MsgTypeImgUploadCloudStatusQuery, "摄像头上传NDE云状态响应"),
//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"),

13
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -105,6 +105,8 @@ enum MessageType
MsgTypeEzhouCloud = 0x10133;//NED pad通信（不仅限于鄂州） bus ros1 MAP500版本支持， bus ros2 MAP480版本支持，taxi 还没有上
MsgTypeCopyBag = 0x10134;//数据落盘(上下行)
MsgTypeCloudConfig = 0x10135;//云端配置查询和返回(上下行)
MsgTypeImgUploadCloudEnable = 0x10136;//摄像头上传NDE云开关
MsgTypeImgUploadCloudStatusQuery = 0x10137;//查询摄像头上传NDE云状态
}
message Header
@@ -1004,4 +1006,15 @@ message CloudLinkAddr
message CloudConfig
{
repeated CloudLinkAddr addrs = 1;
}
//message definition for MsgTypeImgUploadCloudEnable
//发送摄像头上传NDE云开关命令：
message ImgUploadCloudCmd {
bool enable = 1; //false: 关闭， true: 打开
}
//message definition for MsgTypeImgUploadCloudStatusQuery
//查询摄像头上传NDE云状态返回
message ImgUploadCloudStatusResp {
bool enable = 1; //false: 关闭， true: 打开
}

30
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -3187,5 +3187,35 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
public long sendCloudConfigRequest() {
return sendPBMessage(MessageType.TYPE_SEND_CLOUD_CONFIG, null);
}
/**
* 域控摄像头上传NDE云开关命令
*
* @param enable false: 关闭， true: 打开
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendImgUploadCloudEnable(boolean enable) {
MessagePad.ImgUploadCloudCmd.Builder builder = MessagePad.ImgUploadCloudCmd
.newBuilder()
.setEnable(enable);
return sendPBMessage(MessageType.TYPE_SEND_IMG_UPLOAD_CLOUD_ENABLE, builder.build().toByteArray());
}
/**
* 查询域控摄像头上传NDE云开关状态查询
*
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendImgUploadCloudStatusQuery() {
return sendPBMessage(MessageType.TYPE_SEND_IMG_UPLOAD_CLOUD_STATUS_QUERY, null);
}
}

27
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -1940,6 +1940,33 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel == null ? -1L : mChannel.sendCloudConfigRequest();
}
/**
* 域控摄像头上传NDE云开关命令
*
* @param enable false: 关闭， true: 打开
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendImgUploadCloudEnable(boolean enable) {
return mChannel == null ? -1L : mChannel.sendImgUploadCloudEnable(enable);
}
/**
* 查询域控摄像头上传NDE云开关状态查询
*
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendImgUploadCloudStatusQuery() {
return mChannel == null ? -1L : mChannel.sendImgUploadCloudStatusQuery();
}
/**
* 查询节点状态
*

21
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -1413,6 +1413,27 @@ public interface IAdasNetCommApi {
*/
long sendCloudConfigRequest();
/**
* 域控摄像头上传NDE云开关命令
*
* @param enable false: 关闭， true: 打开
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
long sendImgUploadCloudEnable(boolean enable);
/**
* 查询域控摄像头上传NDE云开关状态查询
*
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
long sendImgUploadCloudStatusQuery();
// TODO 需求暂停 待讨论
// boolean getRoutes();

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -664,6 +664,14 @@ public interface OnAdasListener {
*/
void onCloudConfig(@NonNull MessagePad.Header header, @NonNull MessagePad.CloudConfig config);
/**
* 摄像头上传NDE云状态响应
*
* @param header 头
* @param resp 数据
*/
void onImgUploadCloudStatusResp(@NonNull MessagePad.Header header, @NonNull MessagePad.ImgUploadCloudStatusResp resp);
/**
* 是否有能力启动自动驾驶
*

32
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ImgUploadCloudStatusRespMessage.java Normal file
View File

@@ -0,0 +1,32 @@
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 mogo.telematics.pad.MessagePad;
/**
* 摄像头上传NDE云状态响应
*/
public class ImgUploadCloudStatusRespMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
MessagePad.ImgUploadCloudStatusResp resp = MessagePad.ImgUploadCloudStatusResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("摄像头上传NDE云状态响应", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onImgUploadCloudStatusResp(raw.getHeader(), resp);
}
AdasChannel.calculateTimeConsumingBusiness("摄像头上传NDE云状态响应", nowTime);
// CupidLogUtils.e("到站提醒--->" + arrivalNotification.toString());
}
}

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -58,6 +58,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg captureImgOnTakeOverMessage;//接管时前方和后方摄像头数据请求的响应
private IMsg copyBagMessage;//数据落盘
private IMsg cloudConfigMessage;//云端配置
private IMsg imgUploadCloudStatusRespMessage;//摄像头上传NDE云状态响应
private final AutopilotReview autopilotReview;
private final TurnLightState lightLeft = new TurnLightState();
@@ -338,6 +339,12 @@ public class MyMessageFactory implements IMyMessageFactory {
cloudConfigMessage = new CloudConfigMessage();
}
return cloudConfigMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_IMG_UPLOAD_CLOUD_STATUS_QUERY.typeCode) {
//摄像头上传NDE云状态响应
if (imgUploadCloudStatusRespMessage == null) {
imgUploadCloudStatusRespMessage = new ImgUploadCloudStatusRespMessage();
}
return imgUploadCloudStatusRespMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;