[8.5.0]

[车门、安全带、站点停车]

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java

@@ -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),

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStationStop.java

@@ -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;
+
+    }
+}

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -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

libraries/mogo-adas-data/src/main/proto/tm_info.proto

@@ -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
+}
+