完成新架构的域控制器的监听及数据改造

Signed-off-by: 董宏宇 <martindhy@gmail.com>

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotCarStateInfo.java

@@ -0,0 +1,269 @@
+package com.mogo.eagle.core.data.autopilot;
+
+import java.io.Serializable;
+
+/**
+ * @author donghongyu
+ * @des 自车辆状态
+ * @date 2021/10/18
+ */
+public class AutopilotCarStateInfo implements Serializable {
+
+    /**
+     * action : “state”
+     * values : {"lon":116.8,"lat":39.4,"alt":22.3,"heading":87.5,"acceleration":0.5,"yaw_rate":0.3}
+     */
+
+    private String action;
+    private ValuesBean values;
+    private float fps;
+
+    public float getFps() {
+        return fps;
+    }
+
+    public void setFps(float fps) {
+        this.fps = fps;
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ValuesBean getValues() {
+        return values;
+    }
+
+    public void setValues(ValuesBean values) {
+        this.values = values;
+    }
+
+    public static class ValuesBean {
+        /**
+         * lon : 116.8
+         * lat : 39.4
+         * alt : 22.3
+         * heading : 87.5
+         * acceleration : 0.5
+         * yaw_rate : 0.3
+         */
+
+        private double lon;
+        private double lat;
+        private double alt;
+        private double heading;
+        private double acceleration;
+        private double yaw_rate;
+        //惯导车速 m/s
+        private float gnss_speed;
+        //车辆车速 m/s
+        private float vehicle_speed;
+        //gps时间
+        private String satelliteTime;
+        //UTC时间差
+        private long utcTimeDiffer;
+        //系统时间
+        private String systemTime;
+        //接收到数据的时间
+        private String receiverDataTime;
+        //接收到gps时间
+        private String adasSatelliteTime;
+        //开始接收数据时间
+        private String startReceiverDataTime;
+        //时间延迟
+        private long timeDiff=0;
+        private int turn_light; //转向灯状态 0是正常 1是左转 2是右转
+        private int flash_light; //双闪灯状态
+        private int brake_light; //刹车灯状态
+        private int frame_num;//统计发包个数
+
+        public int getFrame_num() {
+            return frame_num;
+        }
+
+        public void setFrame_num(int frame_num) {
+            this.frame_num = frame_num;
+        }
+
+        public long getTimeDiff() {
+            return timeDiff;
+        }
+
+        public void setTimeDiff(long timeDiff) {
+            this.timeDiff = timeDiff;
+        }
+
+        public String getReceiverDataTime() {
+            return receiverDataTime;
+        }
+
+        public void setReceiverDataTime(String receiverDataTime) {
+            this.receiverDataTime = receiverDataTime;
+        }
+
+        public String getAdasSatelliteTime() {
+            return adasSatelliteTime;
+        }
+
+        public void setAdasSatelliteTime(String adasSatelliteTime) {
+            this.adasSatelliteTime = adasSatelliteTime;
+        }
+
+        public String getSystemTime() {
+            return systemTime;
+        }
+
+        public void setSystemTime(String systemTime) {
+            this.systemTime = systemTime;
+        }
+
+        public float getGnss_speed() {
+            return gnss_speed;
+        }
+
+        public void setGnss_speed(float gnss_speed) {
+            this.gnss_speed = gnss_speed;
+        }
+
+        public float getVehicle_speed() {
+            return vehicle_speed;
+        }
+
+        public void setVehicle_speed(float vehicle_speed) {
+            this.vehicle_speed = vehicle_speed;
+        }
+
+        public int getTurn_light() {
+            return turn_light;
+        }
+
+        public void setTurn_light(int turn_light) {
+            this.turn_light = turn_light;
+        }
+
+        public int getFlash_light() {
+            return flash_light;
+        }
+
+        public void setFlash_light(int flash_light) {
+            this.flash_light = flash_light;
+        }
+
+        public int getBrake_light() {
+            return brake_light;
+        }
+
+        public void setBrake_light(int brake_light) {
+            this.brake_light = brake_light;
+        }
+
+        public double getLon() {
+            return lon;
+        }
+
+        public void setLon(double lon) {
+            this.lon = lon;
+        }
+
+        public double getLat() {
+            return lat;
+        }
+
+        public void setLat(double lat) {
+            this.lat = lat;
+        }
+
+        public double getAlt() {
+            return alt;
+        }
+
+        public void setAlt(double alt) {
+            this.alt = alt;
+        }
+
+        public double getHeading() {
+            return heading;
+        }
+
+        public void setHeading(double heading) {
+            this.heading = heading;
+        }
+
+        public double getAcceleration() {
+            return acceleration;
+        }
+
+        public void setAcceleration(double acceleration) {
+            this.acceleration = acceleration;
+        }
+
+        public double getYaw_rate() {
+            return yaw_rate;
+        }
+
+        public void setYaw_rate(double yaw_rate) {
+            this.yaw_rate = yaw_rate;
+        }
+
+        public String getSatelliteTime() {
+            return satelliteTime;
+        }
+
+        public void setSatelliteTime(String satelliteTime) {
+            this.satelliteTime = satelliteTime;
+        }
+
+        public long getUtcTimeDiffer() {
+            return utcTimeDiffer;
+        }
+
+        public void setUtcTimeDiffer(long utcTimeDiffer) {
+            this.utcTimeDiffer = utcTimeDiffer;
+        }
+
+        public String getStartReceiverDataTime() {
+            return startReceiverDataTime;
+        }
+
+        public void setStartReceiverDataTime(String startReceiverDataTime) {
+            this.startReceiverDataTime = startReceiverDataTime;
+        }
+
+
+        @Override
+        public String toString() {
+            return "ValuesBean{" +
+                    "lon=" + lon +
+                    ", lat=" + lat +
+                    ", alt=" + alt +
+                    ", heading=" + heading +
+                    ", acceleration=" + acceleration +
+                    ", yaw_rate=" + yaw_rate +
+                    ", gnss_speed=" + gnss_speed +
+                    ", vehicle_speed=" + vehicle_speed +
+                    ", satelliteTime='" + satelliteTime + '\'' +
+                    ", utcTimeDiffer='" + utcTimeDiffer + '\'' +
+                    ", systemTime='" + systemTime + '\'' +
+                    ", receiverDataTime='" + receiverDataTime + '\'' +
+                    ", startReceiverDataTime='" + startReceiverDataTime + '\'' +
+                    ", timeDiff=" + timeDiff +
+                    ", turn_light=" + turn_light +
+                    ", flash_light=" + flash_light +
+                    ", brake_light=" + brake_light +
+                    ", frame_num=" + frame_num +
+                    '}';
+        }
+    }
+
+    @Override
+    public String toString() {
+        return "CarStateInfo{" +
+                "action='" + action + '\'' +
+                ", values=" + values +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlCmdParameter.java

@@ -0,0 +1,27 @@
+package com.mogo.eagle.core.data.autopilot;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/10/22
+ *
+ * 域控制器 控制指令发送
+ */
+class AutopilotControlCmdParameter {
+
+    public String action;
+    public Object result;
+
+    public AutopilotControlCmdParameter(String action, Object result) {
+        this.action = action;
+        this.result = result;
+    }
+
+    @Override
+    public String toString() {
+        return "AutoPilotControlCmdParameter{" +
+                "action='" + action + '\'' +
+                ", result=" + result +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.java

@@ -0,0 +1,54 @@
+package com.mogo.eagle.core.data.autopilot;
+
+import java.util.List;
+
+/**
+ * @author donghongyu
+ * @since 2021/09/22
+ * <p>
+ * 启动自动驾驶参数
+ */
+public class AutopilotControlParameters {
+
+    public AutoPilotLonLat startLatLon;
+    public List<AutoPilotLonLat> wayLatLons;
+    public AutoPilotLonLat endLatLon;
+    public float speedLimit;
+    public int vehicleType;// 运营类型
+    /**
+     * 是否播放adas的 开始自动驾驶 语音
+     */
+    public boolean isSpeakVoice = true;
+
+    public static class AutoPilotLonLat {
+        public double lat;
+        public double lon;
+
+        public AutoPilotLonLat() {
+        }
+
+        public AutoPilotLonLat(double lat, double lon) {
+            this.lat = lat;
+            this.lon = lon;
+        }
+
+        @Override
+        public String toString() {
+            return "AutoPilotLonLat{" +
+                    "lat=" + lat +
+                    ", lon=" + lon +
+                    '}';
+        }
+    }
+
+    @Override
+    public String toString() {
+        return "RemoteControlAutoPilotParameters{" +
+                "startLatLon=" + startLatLon +
+                ", wayLatLons=" + wayLatLons +
+                ", endLatLon=" + endLatLon +
+                ", speedLimit=" + speedLimit +
+                ", vehicleType=" + vehicleType +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotGuardianStatusInfo.java

@@ -0,0 +1,164 @@
+package com.mogo.eagle.core.data.autopilot;
+
+import com.google.gson.annotations.SerializedName;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotCpuState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotDiskState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotHardwareState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotMemState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotNetFlowState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotNodeState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotProgramState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotTopicState;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/18 12:54 下午
+ * 工控机节点状态信息
+ */
+public class AutopilotGuardianStatusInfo implements Serializable {
+    @SerializedName("action")
+    private String action;
+    @SerializedName("value")
+    private AutopilotGuardianResult value;
+
+    public static class AutopilotGuardianResult {
+        //车辆类型 WEY-长城 DF-东风 BYD-比亚迪 JINLV-金旅
+        @SerializedName("cartype")
+        private String carType;
+        //车牌号
+        @SerializedName("carnum")
+        private String carNum;
+        //ws连接状态 0-非链接 1-链接
+        @SerializedName("websocket_state")
+        private String wsState;
+        //ai云长链状态 0-非链接 1-链接
+        @SerializedName("aicloud_state")
+        private String aiCloudState;
+        //感知 eagle_hz
+        @SerializedName("eagle_hz")
+        private String eagleHz;
+        //软件节点
+        @SerializedName("nodestate")
+        private List<AutopilotNodeState> nodeState;
+        //topic
+        @SerializedName("topicstate")
+        private List<AutopilotTopicState> topicState;
+        //硬件节点
+        @SerializedName("hardwarestate")
+        private List<AutopilotHardwareState> hardwareState;
+        //CPU
+        @SerializedName("cpustate")
+        private AutopilotCpuState cpuState;
+        //内存
+        @SerializedName("memstate")
+        private AutopilotMemState memState;
+        //硬盘状态
+        @SerializedName("diskstate")
+        private List<AutopilotDiskState> diskState;
+        //占CPU最多的10个程序
+        @SerializedName("programcpustate")
+        private List<AutopilotProgramState> programCpuState;
+        //占内存最多的10个程序
+        @SerializedName("programmemstate")
+        private List<AutopilotProgramState> programMemState;
+        //流量
+        @SerializedName("netflowstate")
+        private List<AutopilotNetFlowState> netFlowState;
+
+
+        public String getCarType() {
+            return carType;
+        }
+
+        public String getCarNum() {
+            return carNum;
+        }
+
+        public String getWsState() {
+            return wsState;
+        }
+
+        public String getAiCloudState() {
+            return aiCloudState;
+        }
+
+        public List<AutopilotNodeState> getNodeState() {
+            return nodeState;
+        }
+
+        public List<AutopilotHardwareState> getHardwareState() {
+            return hardwareState;
+        }
+
+        public AutopilotCpuState getCpuState() {
+            return cpuState;
+        }
+
+        public AutopilotMemState getMemState() {
+            return memState;
+        }
+
+        public List<AutopilotDiskState> getDiskState() {
+            return diskState;
+        }
+
+        public String getEagleHz() {
+            return eagleHz;
+        }
+
+        public List<AutopilotProgramState> getProgramCpuState() {
+            return programCpuState;
+        }
+
+        public List<AutopilotProgramState> getProgramMemState() {
+            return programMemState;
+        }
+
+        public List<AutopilotNetFlowState> getNetFlowState() {
+            return netFlowState;
+        }
+
+        public List<AutopilotTopicState> getTopicState() {
+            return topicState;
+        }
+
+        @Override
+        public String toString() {
+            return "AutopilotGuardianResult{" +
+                    "carType='" + carType + '\'' +
+                    ", carNum='" + carNum + '\'' +
+                    ", wsState='" + wsState + '\'' +
+                    ", aiCloudState='" + aiCloudState + '\'' +
+                    ", eagleHz='" + eagleHz + '\'' +
+                    ", nodeState=" + nodeState +
+                    ", topicState=" + topicState +
+                    ", hardwareState=" + hardwareState +
+                    ", cpuState=" + cpuState +
+                    ", memState=" + memState +
+                    ", diskState=" + diskState +
+                    ", programCpuState=" + programCpuState +
+                    ", programMemState=" + programMemState +
+                    ", netFlowState=" + netFlowState +
+                    '}';
+        }
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public AutopilotGuardianResult getValue() {
+        return value;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotGuardianInfo{" +
+                "action='" + action + '\'' +
+                ", value=" + value +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotRouteInfo.java

@@ -0,0 +1,70 @@
+package com.mogo.eagle.core.data.autopilot;
+
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/6/21
+ */
+
+public class AutopilotRouteInfo {
+
+    private String action;
+    private List<RouteModels> models;
+
+    public static class RouteModels {
+        private Double lat;
+        private Double lon;
+
+        public Double getLat() {
+            return lat;
+        }
+
+        public void setLat(Double lat) {
+            this.lat = lat;
+        }
+
+        public Double getLon() {
+            return lon;
+        }
+
+        public void setLon(Double lon) {
+            this.lon = lon;
+        }
+
+        @Override
+        public String toString() {
+            return "RouteModels{" +
+                    "lat=" + lat +
+                    ", lon=" + lon +
+                    '}';
+        }
+
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public List<RouteModels> getModels() {
+        return models;
+    }
+
+    public void setModels(List<RouteModels> models) {
+        this.models = models;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotRoute{" +
+                "action='" + action + '\'' +
+                ", models=" + models +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStationInfo.java

@@ -0,0 +1,53 @@
+package com.mogo.eagle.core.data.autopilot;
+
+/**
+ * @author congtaowang
+ * @since 2021/1/18
+ * <p>
+ * 自动驾驶网约车回调数据
+ */
+public class AutopilotStationInfo {
+
+    private int type;
+    private double lon;
+    private double lat;
+
+    public AutopilotStationInfo(int type, double lon, double lat) {
+        this.type = type;
+        this.lon = lon;
+        this.lat = lat;
+    }
+
+    public int getType() {
+        return type;
+    }
+
+    public void setType(int type) {
+        this.type = type;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon(double lon) {
+        this.lon = lon;
+    }
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat(double lat) {
+        this.lat = lat;
+    }
+
+    @Override
+    public String toString() {
+        return "AutoPilotStationInfo{" +
+                "type=" + type +
+                ", lon=" + lon +
+                ", lat=" + lat +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatus.java

@@ -0,0 +1,108 @@
+package com.mogo.eagle.core.data.autopilot;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @des
+ * @date 2020/7/14
+ */
+public class AutopilotStatus implements Serializable {
+
+    /**
+     * action : autopilotstate
+     * values : {"state":0,"reason":""}
+     */
+
+    private String action;
+    private ValuesBean values;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ValuesBean getValues() {
+        return values;
+    }
+
+    public void setValues(ValuesBean values) {
+        this.values = values;
+    }
+
+    public static class ValuesBean {
+        /**
+         * 0是不可用 1是ready 2是自动驾驶start
+         *
+         * @return
+         */
+        private int state;
+        /**
+         * 车速 m/s
+         */
+        private float speed;
+        /**
+         * 不可用原因
+         */
+        private String reason;
+        /**
+         * 摄像头状态 1代表开启，0代表关闭
+         */
+        private int camera;
+        /**
+         * 雷达状态 1代表开启，0代表关闭
+         */
+        private int radar;
+        /**
+         * RTK状态 1代表开启，0代表关闭
+         */
+        private int rtk;
+        /**
+         * 自动驾驶状态 0非自动驾驶，1自动驾驶
+         */
+        private int pilotmode;
+
+
+        public int getState() {
+            return state;
+        }
+
+        public void setState(int state) {
+            this.state = state;
+        }
+
+        public String getReason() {
+            return reason;
+        }
+
+        public void setReason(String reason) {
+            this.reason = reason;
+        }
+
+        public float getSpeed() {
+            return speed;
+        }
+
+        public void setSpeed(float speed) {
+            this.speed = speed;
+        }
+        public int getCamera() {
+            return camera;
+        }
+
+        public int getRadar() {
+            return radar;
+        }
+
+        public int getRtk() {
+            return rtk;
+        }
+
+        public int getPilotmode() {
+            return pilotmode;
+        }
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt

@@ -0,0 +1,61 @@
+package com.mogo.eagle.core.data.autopilot
+
+import java.io.Serializable
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/12 8:16 下午
+ * 域控制器状态信息
+ * 不建议自己初始化此对象，建议使用 CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+ */
+class AutopilotStatusInfo : Serializable {
+    /**
+     * 当前链接的IP地址, 默认地址 192.168.1.102
+     */
+    var connectIP: String = "0.0.0.0"
+    var connectStatus = false
+    var version: String = "v0.0"
+
+    /**
+     * 定位是否可用
+     */
+    var locationStatus = false
+    var locationLat = 0.0
+    var locationLon = 0.0
+
+    /**
+     * 车速 m/s
+     */
+    var speed = 0f
+
+    /**
+     * 自动驾驶状态 0是不可用 1是ready 2是自动驾驶start
+     */
+    var state = 0
+
+    /**
+     * 不可用原因
+     */
+    var reason: String = ""
+
+    /**
+     * 摄像头状态 1代表开启，0代表关闭
+     */
+    var camera = 0
+
+    /**
+     * 雷达状态 1代表开启，0代表关闭
+     */
+    var radar = 0
+
+    /**
+     * RTK状态 1代表开启，0代表关闭
+     */
+    var rtk = 0
+
+    /**
+     * 自动驾驶状态 0非自动驾驶，1自动驾驶
+     */
+    var pilotmode = 0
+
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotWarnMessage.java

@@ -0,0 +1,32 @@
+package com.mogo.eagle.core.data.autopilot;
+
+
+/**
+ * @author congtaowang
+ * @since 2020/10/25
+ * <p>
+ * 描述
+ */
+public class AutopilotWarnMessage {
+
+    public String content;
+    public String level;
+
+    /**
+     * 警告消息类型
+     * <p>
+     * {@link MogoADASWarnType}
+     */
+    public int type;
+    public String value;
+
+    @Override
+    public String toString() {
+        return "ADASWarnMessage{" +
+                "content='" + content + '\'' +
+                ", level='" + level + '\'' +
+                ", type=" + type +
+                ", value='" + value + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/MogoADASWarnType.java

@@ -0,0 +1,64 @@
+package com.mogo.eagle.core.data.autopilot;
+
+
+/**
+ * @author congtaowang
+ * @since 2020/10/25
+ * <p>
+ * 描述
+ */
+public interface MogoADASWarnType {
+
+    /**
+     * 行人报警
+     */
+    int ADAS_WARNING_PERSON = 16;
+    /**
+     * 前车起步
+     */
+    int ADAS_WARNING_FRONT_CAR_GO = 17;
+    /**
+     * ldw 类型 左侧车道线
+     */
+    int ADAS_WARNING_SENCE_LANE_LEFT_LOST = 18;
+    /**
+     * 右侧车道线
+     */
+    int ADAS_WARNING_SENCE_LANE_RIGHT_LOST = 19;
+    /**
+     * fcw 类型
+     */
+    int ADAS_WARNING_FRONT_CAR = 20;
+    /**
+     * 摩托车碰撞
+     */
+    int ADAS_WARNING_MOTORCYCLE = 23;
+    /**
+     * 急刹车
+     */
+    int ADAS_WARNING_QUICK_BRAKE = 30;
+    /**
+     * 禁止掉头
+     */
+    int ADAS_WARNING_NOT_U_TURN = 40;
+    /**
+     * 禁止左转
+     */
+    int ADAS_WARNING_NOT_LEFT_TURN = 41;
+    /**
+     * 禁止右转
+     */
+    int ADAS_WARNING_NOT_RIGHT_TURN = 42;
+    /**
+     * 禁止鸣喇叭
+     */
+    int ADAS_WARNING_NOT_VOICE = 43;
+    /**
+     * 禁止通行
+     */
+    int ADAS_WARNING_DO_NOT_ENTER = 44;
+    /**
+     * 限速
+     */
+    int ADAS_WARNING_LIMIT_SPEED = 45;
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotCpuState.java

@@ -0,0 +1,81 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des CPU状态
+ * @date 2021/8/11
+ */
+public class AutopilotCpuState {
+    //cup总使用率
+    @SerializedName("all")
+    private Double all;
+    @SerializedName("cpu1")
+    private Double cpu1;
+    @SerializedName("cpu2")
+    private Double cpu2;
+    @SerializedName("cpu3")
+    private Double cpu3;
+    @SerializedName("cpu4")
+    private Double cpu4;
+    @SerializedName("cpu5")
+    private Double cpu5;
+    @SerializedName("cpu6")
+    private Double cpu6;
+    @SerializedName("cpu7")
+    private Double cpu7;
+    @SerializedName("cpu8")
+    private Double cpu8;
+
+    public Double getAll() {
+        return all;
+    }
+
+    public Double getCpu1() {
+        return cpu1;
+    }
+
+    public Double getCpu2() {
+        return cpu2;
+    }
+
+    public Double getCpu3() {
+        return cpu3;
+    }
+
+    public Double getCpu4() {
+        return cpu4;
+    }
+
+    public Double getCpu5() {
+        return cpu5;
+    }
+
+    public Double getCpu6() {
+        return cpu6;
+    }
+
+    public Double getCpu7() {
+        return cpu7;
+    }
+
+    public Double getCpu8() {
+        return cpu8;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotCpuState{" +
+                "all=" + all +
+                ", cpu1=" + cpu1 +
+                ", cpu2=" + cpu2 +
+                ", cpu3=" + cpu3 +
+                ", cpu4=" + cpu4 +
+                ", cpu5=" + cpu5 +
+                ", cpu6=" + cpu6 +
+                ", cpu7=" + cpu7 +
+                ", cpu8=" + cpu8 +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotDiskState.java

@@ -0,0 +1,65 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 磁盘信息
+ * @date 2021/8/11
+ */
+public class AutopilotDiskState {
+    //磁盘总大小
+    @SerializedName("diskall")
+    private String diskall;
+    //磁盘空闲大小
+    @SerializedName("diskfree")
+    private String diskfree;
+    //磁盘挂在目录
+    @SerializedName("diskmount")
+    private String diskmount;
+    //磁盘名称
+    @SerializedName("diskname")
+    private String diskname;
+    //磁盘使用百分比
+    @SerializedName("diskpercent")
+    private String diskpercent;
+    //磁盘已使用大小
+    @SerializedName("diskuse")
+    private String diskuse;
+
+    public String getDiskall() {
+        return diskall;
+    }
+
+    public String getDiskfree() {
+        return diskfree;
+    }
+
+    public String getDiskmount() {
+        return diskmount;
+    }
+
+    public String getDiskname() {
+        return diskname;
+    }
+
+    public String getDiskpercent() {
+        return diskpercent;
+    }
+
+    public String getDiskuse() {
+        return diskuse;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotDiskState{" +
+                "diskall='" + diskall + '\'' +
+                ", diskfree='" + diskfree + '\'' +
+                ", diskmount='" + diskmount + '\'' +
+                ", diskname='" + diskname + '\'' +
+                ", diskpercent='" + diskpercent + '\'' +
+                ", diskuse='" + diskuse + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotHardwareState.java

@@ -0,0 +1,41 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 硬件状态
+ * @date 2021/7/26
+ */
+public class AutopilotHardwareState {
+    /**
+     * 0不正常
+     */
+    @SerializedName("run_hz")
+    private String runHz;
+    @SerializedName("set_hz")
+    private String setHz;
+    @SerializedName("topic_name")
+    private String topicName;
+
+    public String getRunHz() {
+        return runHz;
+    }
+
+    public String getSetHz() {
+        return setHz;
+    }
+
+    public String getTopicName() {
+        return topicName;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotHardwareState{" +
+                "runHz='" + runHz + '\'' +
+                ", setHz='" + setHz + '\'' +
+                ", topicName='" + topicName + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotMemState.java

@@ -0,0 +1,49 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 内存状态
+ * @date 2021/8/11
+ */
+public class AutopilotMemState {
+    //空闲内存(M)
+    @SerializedName("free")
+    private String free;
+    //内存使用百分比
+    @SerializedName("percent_mem")
+    private String percentMem;
+    //总内存（M）
+    @SerializedName("total_mem")
+    private String totalMem;
+    //使用的内存(M)
+    @SerializedName("used_mem")
+    private String usedMem;
+
+    public String getFree() {
+        return free;
+    }
+
+    public String getPercentMem() {
+        return percentMem;
+    }
+
+    public String getTotalMem() {
+        return totalMem;
+    }
+
+    public String getUsedMem() {
+        return usedMem;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotMemState{" +
+                "free='" + free + '\'' +
+                ", percentMem='" + percentMem + '\'' +
+                ", totalMem='" + totalMem + '\'' +
+                ", usedMem='" + usedMem + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNetFlowState.java

@@ -0,0 +1,38 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 占用内存的程序
+ * @date 2021/8/16
+ */
+public class AutopilotNetFlowState {
+    @SerializedName("netname")
+    private String netName;
+    @SerializedName("recv_flow")
+    private String recvFlow;
+    @SerializedName("send_flow")
+    private String sendFlow;
+
+    public String getNetName() {
+        return netName;
+    }
+
+    public String getRecvFlow() {
+        return recvFlow;
+    }
+
+    public String getSendFlow() {
+        return sendFlow;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotNetFlowState{" +
+                "netName='" + netName + '\'' +
+                ", recvFlow='" + recvFlow + '\'' +
+                ", sendFlow='" + sendFlow + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNodeState.java

@@ -0,0 +1,34 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 工控机节点状态
+ * @date 2021/7/7
+ */
+public class AutopilotNodeState {
+    /**
+     * -on-开启， off-关闭
+     */
+    @SerializedName("node_name")
+    private String nodeName;
+    @SerializedName("node_state")
+    private String nodeState;
+
+    public String getNodeName() {
+        return nodeName;
+    }
+
+    public String getNodeState() {
+        return nodeState;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotNodeState{" +
+                "nodeName='" + nodeName + '\'' +
+                ", nodeState='" + nodeState + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotProgramState.java

@@ -0,0 +1,41 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 占用内存的程序
+ * @date 2021/8/16
+ */
+public class AutopilotProgramState {
+    //cpu
+    @SerializedName("cpu_percent")
+    private String cpuPercent;
+    //内存
+    @SerializedName("mem_percent")
+    private String memPercent;
+    //name
+    @SerializedName("prog_name")
+    private String progName;
+
+    public String getCpuPercent() {
+        return cpuPercent;
+    }
+
+    public String getMemPercent() {
+        return memPercent;
+    }
+
+    public String getProgName() {
+        return progName;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotProgramState{" +
+                "cpuPercent='" + cpuPercent + '\'' +
+                ", memPercent='" + memPercent + '\'' +
+                ", progName='" + progName + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotTopicState.java

@@ -0,0 +1,39 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des topic info
+ * @date 2021/8/16
+ */
+public class AutopilotTopicState {
+
+    @SerializedName("run_hz")
+    private String runHz;
+    @SerializedName("set_hz")
+    private String setHz;
+    @SerializedName("topic_name")
+    private String topicName;
+
+    public String getRunHz() {
+        return runHz;
+    }
+
+    public String getSetHz() {
+        return setHz;
+    }
+
+    public String getTopicName() {
+        return topicName;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotTopicState{" +
+                "runHz='" + runHz + '\'' +
+                ", setHz='" + setHz + '\'' +
+                ", topicName='" + topicName + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt

@@ -74,6 +74,25 @@ enum class TrafficTypeEnum(
         "道路施工",
         R.raw.v2x_shigong_warning,
         R.raw.v2x_shigong_warning
-    )
+    );
+
+    companion object {
+        @JvmStatic
+        fun getType(type: Int): TrafficTypeEnum {
+            return when (type) {
+                TYPE_TRAFFIC_ID_WEI_ZHI.type -> TYPE_TRAFFIC_ID_WEI_ZHI
+                TYPE_TRAFFIC_ID_PEOPLE.type -> TYPE_TRAFFIC_ID_PEOPLE
+                TYPE_TRAFFIC_ID_BICYCLE.type -> TYPE_TRAFFIC_ID_BICYCLE
+                TYPE_TRAFFIC_ID_TA_CHE.type -> TYPE_TRAFFIC_ID_TA_CHE
+                TYPE_TRAFFIC_ID_MOTO.type -> TYPE_TRAFFIC_ID_MOTO
+                TYPE_TRAFFIC_ID_BUS.type -> TYPE_TRAFFIC_ID_BUS
+                TYPE_TRAFFIC_ID_TRUCK.type -> TYPE_TRAFFIC_ID_TRUCK
+                TYPE_TRAFFIC_ID_CAMERA.type -> TYPE_TRAFFIC_ID_CAMERA
+                TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> TYPE_TRAFFIC_ID_SPECIAL_VEHICLE
+                TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG.type -> TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG
+                else -> TYPE_TRAFFIC_ID_WEI_ZHI
+            }
+        }
+    }
 
 }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/traffic/TrafficData.kt

@@ -18,6 +18,16 @@ class TrafficData {
      */
     var uuid: String = ""
 
+    /**
+     * 车牌id
+     */
+    var carId: String = ""
+
+    /**
+     * 数据来源精度 0 - 普通定位、1 - 高精定位
+     */
+    var dataAccuracy = 1
+
     /**
      * 识别物体的纬度
      */