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[660][adas] 新增车道线上传控制开关、新增车道线pb以及回调

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xinfengkun
2024-07-26 19:13:07 +08:00
parent 88f15034f0
commit 7f7616b493
10 changed files with 195 additions and 0 deletions
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14
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -117,6 +117,7 @@ import mogo.v2x.RoadOverviewEvents
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
import mogo_msg.MogoReportMsg
import perception.FusionTrafficLightOuterClass
import perception.LaneMarkOuterClass
import planning.RoboSweeperTaskIndexOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
@@ -1030,6 +1031,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerV2nNioEventListenerManager.invokeV2nNioCongestionEvent(congestion)
}
/**
* 车道线
*
* @param header 头
* @param laneMarks 数据
*/
override fun onLaneMarksTran(
header: MessagePad.Header,
laneMarks: LaneMarkOuterClass.LaneMarks
) {
}
/**
* 所连接的域控的节点状态信息
* 目前包含状态 节点是否存在；节点是否超时；

1
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
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@@ -87,6 +87,7 @@ public enum MessageType {
TYPE_RECEIVE_V2N_NIO_CROSSOVER_EVENT(MessagePad.MessageType.MsgTypeV2nNioCrossoverEvent, "V2N NIO行人横穿（路侧）"),
TYPE_RECEIVE_V2N_NIO_OTHER_RETROGRADE_EVENT(MessagePad.MessageType.MsgTypeV2nNioOtherRetrogradeEvent, "V2N NIO他车逆行（路侧）"),
TYPE_RECEIVE_V2N_NIO_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nNioCongestionEvent, "V2N NIO拥堵事件"),
TYPE_RECEIVE_LANE_MARKS_TRAN(MessagePad.MessageType.MsgTypeLaneMarksTran, "车道线"),
//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_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, "清扫车指标数据"),

81
libraries/mogo-adas-data/src/main/proto/lane_mark.proto Normal file
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@@ -0,0 +1,81 @@
syntax = "proto2";
package perception;
import "header.proto";
import "geometry.proto";
enum LaneMarkColor {
COLOR_WHITE = 0;
COLOR_YELLOW = 1;
}
enum LaneMarkType {
LANE_MARK_NONE = 0;
LANE_MARK_SOLID = 1;
LANE_MARK_BROKEN = 2;
}
message LaneLineCubicCurve
{
optional double x_start = 1;
optional double x_end = 2;
optional double a = 3;
optional double b = 4;
optional double c = 5;
optional double d = 6;
} // add by qianlei
message LaneMark {
optional LaneMarkColor color = 1;
optional LaneMarkType type = 2;
optional float confidence = 3; // valid length / 60.0 meters
repeated geometry.Point2D points = 4;
optional LaneLineCubicCurve curve_car_coord = 5; // add by qianlei
repeated geometry.Point2D curve_image_coord_point_set = 6; // add by qianlei
repeated geometry.Point3D curve_car_coord_point_set = 7; // add by qianlei
optional int32 track_id = 8;
optional int32 frame_lane_line_id = 9;
optional int32 color_telematics = 10;
optional int32 type_telematics = 11;
}
message LaneCenter {
repeated geometry.Point2D points = 1;
}
message RoadSide {
optional int32 type = 1;
optional int32 frame_roadside_id = 2;
repeated geometry.Point2D img_point_set = 3;
repeated geometry.Point3D car_coord_point_set = 4;
}
message RoadArrow {
optional int32 x = 1;
optional int32 y = 2;
optional int32 w = 3;
optional int32 h = 4;
optional int32 type = 5;
}
message LaneMarks {
optional common.Header header = 1;
optional LaneMark left = 2;
optional LaneMark right = 3;
optional LaneMark left2 = 4;
optional LaneMark right2 = 5;
repeated LaneMark lanemarks = 6; // add by qianlei
optional common.Header header_ros_time_start = 7;
optional common.Header header_ros_time_end = 8;
repeated RoadSide roadsides = 9;
repeated RoadArrow arrows = 10;
optional bytes lane_arrow_stopline_crossing_seg = 11;
optional bytes fs_rs_seg = 12;
optional bytes laneline_inst_seg = 13;
optional bool laneline_exist_flag = 14;
optional bool arrow_exist_flag = 15;
optional bool stopline_exist_flag = 16;
optional bool crossing_exist_flag = 17;
}

3
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -92,6 +92,7 @@ enum MessageType
MsgTypeV2nNioCrossoverEvent = 0x10129; //行人横穿（路侧）事件推送, 透传
MsgTypeV2nNioOtherRetrogradeEvent = 0x1012a; //他车逆行（路侧）事件推送, 透传
MsgTypeV2nNioCongestionEvent = 0x1012b; //拥堵事件推送, 透传
MsgTypeLaneMarksTran = 0x1012c;//车道线上传
}
message Header
@@ -678,6 +679,7 @@ enum OperatorCmdType
OPERATOR_CMD_CHANGE_LANE = 1;
OPERATOR_CMD_SET_ACCELERATED_SPEED = 2;
OPERATOR_CMD_SET_HORN = 3;
OPERATOR_CMD_SEND_LANE_MARKS = 4;
}
message OperatorCmdReq
@@ -686,6 +688,7 @@ message OperatorCmdReq
double value = 2; //OPERATOR_CMD_CHANGE_LANE: 1: left 2: right
//OPERATOR_CMD_SET_ACCELERATED_SPEED: accelerated speed
//OPERATOR_CMD_SET_HORN: 1: honk 2: stop honking
//OPERATOR_CMD_SEND_LANE_MARKS 0: 开始发送车道线 1:结束发送车道线
}
//message definition for MsgTypePlanningDecisionState

20
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -2177,6 +2177,26 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
return sendOperatorCmdSetHorn(2);
}
/**
* 车道线
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param value 0: 开始发送车道线 1:结束发送车道线
* @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 sendOperatorCmdSendLaneMarks(double value) {
MessagePad.OperatorCmdReq req = MessagePad.OperatorCmdReq
.newBuilder()
.setCmdType(MessagePad.OperatorCmdType.OPERATOR_CMD_SEND_LANE_MARKS)
.setValue(value)
.build();
return sendPBMessage(MessageType.TYPE_SEND_OPERATOR_CMD_REQ, req.toByteArray());
}
/**
* 设置参数命令
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -1218,6 +1218,21 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel == null ? -1L : mChannel.sendOperatorCmdStopHonking();
}
/**
* 车道线
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param value 0: 开始发送车道线 1:结束发送车道线
* @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 sendOperatorCmdSendLaneMarks(double value) {
return mChannel == null ? -1L : mChannel.sendOperatorCmdSendLaneMarks(value);
}
/**
* 绕障类功能开关
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck

12
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
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@@ -800,6 +800,18 @@ public interface IAdasNetCommApi {
*/
long sendOperatorCmdStopHonking();
/**
* 车道线
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param value 0: 开始发送车道线 1:结束发送车道线
* @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 sendOperatorCmdSendLaneMarks(double value);
/*******************************设置参数命令 包括V1************************************/
/**
* 绕障类功能开关

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -40,6 +40,7 @@ import mogo.v2x.RoadOverviewEvents;
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass;
import mogo_msg.MogoReportMsg;
import perception.FusionTrafficLightOuterClass;
import perception.LaneMarkOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
@@ -534,6 +535,14 @@ public interface OnAdasListener {
*/
void onV2nNioCongestionEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.V2nCongestion congestion);
/**
* 车道线
*
* @param header 头
* @param laneMarks 数据
*/
void onLaneMarksTran(@NonNull MessagePad.Header header, @NonNull LaneMarkOuterClass.LaneMarks laneMarks);
/**
* 所连接的域控的节点状态信息
* 目前包含状态 节点是否存在；节点是否超时；

33
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/LaneMarksTranMessage.java Normal file
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@@ -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 perception.LaneMarkOuterClass;
/**
* 车道线
*/
public class LaneMarksTranMessage extends MyAbstractMessageHandler {
public LaneMarksTranMessage() {
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
LaneMarkOuterClass.LaneMarks laneMarks = LaneMarkOuterClass.LaneMarks.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("车道线", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onLaneMarksTran(raw.getHeader(), laneMarks);
}
AdasChannel.calculateTimeConsumingBusiness("车道线", nowTime);
}
}

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -52,6 +52,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg v2nNioCrossoverEventMessage;//V2N NIO行人横穿（路侧）
private IMsg v2nNioOtherRetrogradeEventMessage;//V2N NIO他车逆行（路侧）
private IMsg v2nNioCongestionEventMessage;//V2N NIO拥堵事件
private IMsg laneMarksTranMessage;//车道线
private final AutopilotReview autopilotReview;
private final TurnLightState lightLeft = new TurnLightState();
@@ -296,6 +297,12 @@ public class MyMessageFactory implements IMyMessageFactory {
v2nNioCongestionEventMessage = new V2nNioCongestionEventMessage();
}
return v2nNioCongestionEventMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_LANE_MARKS_TRAN.typeCode) {
//车道线
if (laneMarksTranMessage == null) {
laneMarksTranMessage = new LaneMarksTranMessage();
}
return laneMarksTranMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;