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[8.5.0]

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[车门、安全带、站点停车]
This commit is contained in:
yangyakun
2026-04-20 16:57:30 +08:00
parent e47fcfcd10
commit 83dd65eb8d
14 changed files with 415 additions and 9 deletions
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1
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
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@@ -121,6 +121,7 @@ public enum MessageType {
TYPE_RECEIVE_FSM_EVENT(MessagePad.MessageType.MsgTypeFsmEvent, R.string.adas_data_MsgTypeFsmEvent),
TYPE_SEND_TASK_MANAGER(MessagePad.MessageType.MsgTypeTaskMgrAndPad, R.string.adas_data_MsgTypeTaskMgrAndPad_SEND),
TYPE_RECEIVE_TASK_MANAGER(MessagePad.MessageType.MsgTypeTaskMgrAndPad, R.string.adas_data_MsgTypeTaskMgrAndPad_RECEIVE),
TYPE_RECEIVE_TASK_MANAGER_StationStop(MessagePad.MessageType.MsgTypeTaskMgrAndPad, R.string.adas_data_MsgTypeTaskMgrAndPad_RECEIVE),
//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, R.string.adas_data_MsgTypePlanningDecisionState),

78
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStationStop.java Normal file
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@@ -0,0 +1,78 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
import taskmgr.TmInfo;
public class TaskStationStop {
/**
* 停靠站信息， 仅stop=true时候有效， 否则会变更
*/
private VehicleSite stopStation;
/**
* 下一站是否停车, true 停车，false 不停车
*/
private boolean stop;
/**
* 停车原因，0：未定义原因，1：底盘stop信号，2：站点挥手拦停
*/
private int stopReason;
/**
* 到停靠站的距离，单位m
*/
private Double stopDistance;
public VehicleSite getStopStation() {
return stopStation;
}
public void setStopStation(VehicleSite stopStation) {
this.stopStation = stopStation;
}
public boolean isStop() {
return stop;
}
public void setStop(boolean stop) {
this.stop = stop;
}
public int getStopReason() {
return stopReason;
}
public void setStopReason(int stopReason) {
this.stopReason = stopReason;
}
public Double getStopDistance() {
return stopDistance;
}
public void setStopDistance(Double stopDistance) {
this.stopDistance = stopDistance;
}
public static TaskStationStop toTaskStationStop(TmInfo.StationStopInfo stationStopInfo){
if(stationStopInfo==null){
return null;
}
TaskStationStop taskStationStop = new TaskStationStop();
taskStationStop.setStop(stationStopInfo.getStop());
taskStationStop.setStopReason(stationStopInfo.getStopReason());
taskStationStop.setStopDistance(stationStopInfo.getStopDistance());
TmInfo.Location stopStation = stationStopInfo.getStopStation();
if(stopStation!=null){
VehicleSite vehicleSite = VehicleSite.builder()
.coordinateType(stopStation.getCoordinateType())
.point(new AutopilotPoint(stopStation.getPoint().getX(), stopStation.getPoint().getY()))
.station(stopStation.getStation())
.stationId(stopStation.getStationId())
.stationName(stopStation.getStationName())
.stationSeq(Math.toIntExact(stopStation.getStationSeq()))
.build();
taskStationStop.setStopStation(vehicleSite);
}
return taskStationStop;
}
}

1
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -51,6 +51,7 @@ enum MessageType
MsgTypePredictionObjects2025 = 0x10015; //自车他车轨迹预测2025 定频10hz
MsgTypevllm = 0x10016; //vllm 定频 5秒一条 T1-2025（东风Taxi），map是在5.1.0routing
MsgTypeVllmImage60 = 0x10017; //vllm图像 定频 5秒一条 T1-2025（东风Taxi），map是在5.1.0routing
MsgTypeTaskMgrAndPadStationStop = 0x10018; //是否有人按停车
//### 以下消息全部不定频 ###
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求

124
libraries/mogo-adas-data/src/main/proto/tm_info.proto Normal file
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@@ -0,0 +1,124 @@
syntax = "proto2";
package taskmgr;
import "geometry.proto";
import "header.proto";
message TaskQueryRequest {
required uint32 taskId = 1; //任务ID
required uint32 lineId = 2; //轨迹id
}
message Location {
optional uint32 coordinateType = 1 [default = 0]; //坐标类型 0：WGS84 1：GCJ02 2:UTM
optional geometry.Point point = 2; //经纬度
optional uint32 station = 3; // 判断此点是站点还是途径点 ------- 0：站点， 1：简单的途径点
optional uint64 stationId = 4; //站点编号，对应云平台数据库固定值
optional string stationName = 5; //站点名称
optional uint64 stationSeq = 6; //站点序号，对应列表里站点流程，从1开始，1为起始点，途径点填写0
}
message TaskQueryResponse {
required Location curLocation = 1;
// required Location preStation = 2; //前一站站点信息,用于过站同步
// required Location nextStation = 3; //下一站站点信息
required double accumulatedStationDis = 4; //从前一站点到目前的总距离（单位m）
required double reversedAccumulatedStationDis = 5; //从当前到下一站点的距离（单位m）
required double stationTimeLeft = 6; //到达下一站需要的时间（单位s）
// optional double velocity = 7; //速度, m/s
// optional double acceleration = 8; //加速度, m/s^2
// optional double theta = 9; //速度方向
// optional double kappa = 10; //曲率
optional double accumulatedTaskDis = 11; //任务全程的行进里程
optional double reversedAccumulatedTaskDis = 12; //任务全程的剩余里程
optional double taskTimeLeft = 13; //到达终点需要的时间（单位s）
}
enum TaskState {
NONE = 0; //无任务
WAITING = 10; //任务待执行Waiting, 轨迹下载完成，算路请求完成，等待发车
RUNNING = 20; //任务行进中running，收到发车名称，自驾成功，多站点多次进入该状态
STOPED = 30; //到站停车，到达中间站点站点，上报了到站提醒
FINISH = 40; //任务结束，收到任务结束指令或者到达终点后5秒，要主动发出停止自驾
ABORT = 50; //任务中止，存在故障或者异常，无法自驾
CANCEL = 60; //任务取消，收到取消指令
}
message TaskStationsQueryRequest {
optional string src = 1; //查询来源，建议填写为rosnode名称
}
message TaskStationsQueryResponse {
required TaskState state = 1; //任务状态
repeated Location stations = 2; //站点列表
}
message StationStopInfo { //2Hz定频上报
required bool stop = 1; //下一站是否停车, true 停车，false 不停车
optional uint32 stopReason = 2; //停车原因，0：未定义原因，1：底盘stop信号，2：站点挥手拦停
optional Location stopStation = 3; //停靠站信息， 仅stop=true时候有效， 否则会变更
optional double stopDistance = 4; //到停靠站的距离，单位m
}
message TaskInfo {
required uint64 taskId = 1; //任务ID, 同原接口的orderid
required TaskState task_state = 2; //任务状态
required uint64 lineId = 3; //轨迹id
required Location curLocation = 4;
required Location preStation = 5; //前一站站点信息
required Location nextStation = 6; //下一站站点信息
optional uint64 taskStartTime = 7; //任务开始时间
optional double taskTimeLeft = 8; //任务结束剩余时间, 可用于升级提示
}
message TaskEndNotify { //任务结束通知
required bool normal= 1; //true:正常结束 false: 异常中止
optional string order_id = 2; //订单号
}
message TaskStartOrContinueNotify { //任务开始或继续通知，给规划
optional common.Header header = 1;
optional string order_id = 2; //任务ID, 同原接口的orderid
optional geometry.Point start_pos = 3; //起始站点utm坐标
required geometry.Point end_pos = 4; //结束站点utm坐标
optional geometry.Point end_pos_lon_lat = 5; //结束站点信息, 经纬度坐标
}
message TaskStopNotify { //任务停止通知，给规划，当前用于站点停止发车
optional common.Header header = 1;
optional string order_id = 2; //任务ID, 同原接口的orderid
optional uint32 stop_reason = 3; //停止原因, 1: 底盘stop信号 2: 站点挥手拦停，0：未定义原因
}
enum VoiceEvent {
UNKNOWN = 0;
//这里只罗列目前需要收集的语音事件，后续扩展按需增加
ENTER_STATION = 3001; //进站
LEAVE_STATION = 3002; //出站
AVOIDANCE = 3103; //绕障
TURN_LEFT = 3204; //左转
TURN_RIGHT = 3205; //右转
PEDESTRIAN_AVOIDANCE = 2001; //行人避让
CROSSWALK_AVOIDANCE = 2002; //过人行横道，礼让
STUCK = 2101; //陷入困境
CROSSROAD = 2102; //路口通行\
COLLISION = 1001; //碰撞事故
}
message VoiceEventItems {
required uint32 event = 1; //语音事件码, 同产品语音播发类型需求，定义uint32 便于扩展。 目前定义参考VoiceEvent
optional string action = 2; //自驾行为或者环境示警描述，目前主要有：进出站，绕障，左/右转，行人避让，路口通信
optional string extra = 3; //额外信息补充，如进站时候站点名称，开门操作对应得门的信息等，便于语音播报准确扩展
}
message VoiceEventReport {
required string src = 1; //语音事件来源，填写模块名称,rosnode 填写node名称即可
repeated VoiceEventItems items = 2; //语音事件列表，当前模块的需要播报的行为列表
optional Location curLocation = 3; //事件上报时候，车辆当前位置
optional uint64 millisecond = 4; //毫秒时间戳
}

27
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -63,6 +63,7 @@ import prediction2025.Prediction2025;
import record_cache.RecordPanelOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
import taskmgr.TmInfo;
import vllm.Vlm;
/**
@@ -809,16 +810,20 @@ public interface OnAdasListener {
*/
void onAdasTaskManagerOriginal(@NonNull MessagePad.Header header, @NonNull String data);
/**
* 域控任务管理站点停车原始数据
*
* @param header 头
* @param data 数据
*/
void onAdasTaskManagerStationStopOriginal(@NonNull MessagePad.Header header, @NonNull String data);
/**
* 域控任务管理离站通知
*
* @param taskId
* @param siteId
* @param sequence
* @param ack
* @param reason
* @param stationTimeLeft
* @param closeDoorStartAuto
* @param taskStartNotification
*/
void onAdasTaskManagerDeparture(Long taskId, TaskStartNotification taskStartNotification);
@@ -826,9 +831,7 @@ public interface OnAdasListener {
* 域控任务管理到站通知
*
* @param taskId 任务ID, 同原接口的orderid， 首次和头部校验
* @param siteId 站点编号，对应云平台固定值
* @param sequence 站点序号，对应顺序列表里站点流程，从1开始，1为起始点，最大值为终点。 途径点填写0
* @param mileage 任务全程的已经行进的里程
* @param taskArrivalNotification 到站信息
*/
void onAdasTaskManagerArrival(Long taskId, TaskArrivalNotification taskArrivalNotification);
@@ -852,6 +855,12 @@ public interface OnAdasListener {
*/
void onAdasTaskManagerRunning(Long taskId, Long lineId, TaskLocationQueryResponse taskLocationQueryResponse);
/**
*
* @param stationStopInfo 到站的信息
*/
void onAdasTaskManagerStationStop(TmInfo.StationStopInfo stationStopInfo);
/**
* 是否有能力启动自动驾驶
*

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -66,6 +66,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg planningStopLineMessage;//决策停止线
private IMsg fSMEventMessage;//FSM事件
private IMsg taskMgrAndPadMessage;//任务管理消息
private IMsg taskMgrAndPadStationStopMessage;//任务管理消息
private final AutopilotReview autopilotReview;
private final TurnLightState lightLeft = new TurnLightState();
@@ -388,6 +389,12 @@ public class MyMessageFactory implements IMyMessageFactory {
fSMEventMessage = new FSMEventMessage();
}
return fSMEventMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_TASK_MANAGER_StationStop.typeCode) {
//任务管理消息发出的站点停车
if (taskMgrAndPadStationStopMessage == null) {
taskMgrAndPadStationStopMessage = new TaskManagerStationStopMessage();
}
return taskMgrAndPadStationStopMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_TASK_MANAGER.typeCode) {
//任务管理消息
if (taskMgrAndPadMessage == null) {

36
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerStationStopMessage.java Normal file
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@@ -0,0 +1,36 @@
package com.zhidao.support.adas.high.msg;
import android.util.Log;
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.protocol.RawData;
import taskmgr.TmInfo;
/**
* 任务管理消息
*/
public class TaskManagerStationStopMessage extends MyAbstractMessageHandler {
private static final String TAG = TaskManagerStationStopMessage.class.getSimpleName();
public TaskManagerStationStopMessage() {
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
TmInfo.StationStopInfo stationStopInfo = TmInfo.StationStopInfo.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("底盘信息", raw.receiveTime);
long nowTime = 0;
adasListener.onAdasTaskManagerStationStop(stationStopInfo);
AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime);
}
private void parse(OnAdasListener adasListener, String data) {
Log.i(TAG, "任务管理接收原始数据=" + data);
}
}