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[630][adas] 特种车辆命令下发添加数据来源，增加回执功能，MAP380开始支持

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xinfengkun
2024-02-27 20:23:58 +08:00
parent a79598bd57
commit 90c14abd8b
30 changed files with 1326 additions and 519 deletions
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115
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java Normal file
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package com.zhjt.mogo.adas.common;
import mogo.telematics.pad.MessagePad;
/**
* 工控机发送或接收的类型
* 工控机接收接口必须包含TYPE_RECEIVE
* 消息回执文档：http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=119731359
*
* @author nie yunlong
* @description 请求值
* @date 2018/7/3
*/
public enum MessageType {
TYPE_DEFAULT(MessagePad.MessageType.MsgTypeDefault, "默认"),
TYPE_RECEIVE_TRAJECTORY(MessagePad.MessageType.MsgTypeTrajectory, "车前引导线"),
TYPE_RECEIVE_TRACKED_OBJECTS(MessagePad.MessageType.MsgTypeTrackedObjects, "障碍物信息"),
TYPE_RECEIVE_GNSS_INFO(MessagePad.MessageType.MsgTypeGnssInfo, "惯导信息"),
TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "老底盘状态"),
TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, "自动驾驶状态"),
TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"),
TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "后摄像头"),
TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
TYPE_RECEIVE_SSM(MessagePad.MessageType.MsgTypeSSMState, "SSM系统状态"),
TYPE_RECEIVE_FM_STATE(MessagePad.MessageType.MsgTypeFMState, "FM状态"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),
TYPE_SEND_SET_AUTOPILOT_MODE_REQ(MessagePad.MessageType.MsgTypeSetAutopilotModeReq, "设置自动驾驶模式 启动自动驾驶", 5000),
TYPE_SEND_SET_DEMO_MODE_REQ(MessagePad.MessageType.MsgTypeSetDemoModeReq, "设置演示模式", 5000),
TYPE_SEND_CAR_CONFIG_REQ(MessagePad.MessageType.MsgTypeCarConfigReq, "车机基础信息请求"),
TYPE_RECEIVE_CAR_CONFIG_RESP(MessagePad.MessageType.MsgTypeCarConfigResp, "车机基础信息应答"),
TYPE_SEND_RECORD_CAUSE(MessagePad.MessageType.MsgTypeRecordCause, "记录人工接管原因"),
TYPE_SEND_RECORD_DATA(MessagePad.MessageType.MsgTypeRecordData, "数据采集请求"),
TYPE_RECEIVE_RECORD_RESULT(MessagePad.MessageType.MsgTypeRecordResult, "数据采集结果"),
TYPE_SEND_SET_AUTOPILOT_SPEED_REQ(MessagePad.MessageType.MsgTypeSetAutopilotSpeedReq, "设置自动驾驶最大速度", 5000),
TYPE_SEND_GLOBAL_PATH_REQ(MessagePad.MessageType.MsgTypeGlobalPathReq, "自动驾驶路径请求"),
TYPE_RECEIVE_GLOBAL_PATH_RESP(MessagePad.MessageType.MsgTypeGlobalPathResp, "自动驾驶路径应答"),
@Deprecated//MAP290开始此接口弃用
TYPE_SEND_TRAFFIC_LIGHT_DATA(MessagePad.MessageType.MsgTypeTrafficLightData, "发送红绿灯数据到工控机"),
@Deprecated
TYPE_RECEIVE_WARN(MessagePad.MessageType.MsgTypeWarn, "预警数据"),
TYPE_RECEIVE_ARRIVAL_NOTIFICATION(MessagePad.MessageType.MsgTypeArrivalNotification, "到站提醒"),
TYPE_SEND_SYSTEM_CMD_REQ(MessagePad.MessageType.MsgTypeSystemCmdReq, "系统命令请求", 5000),
TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, "轨迹下载请求", 5000),
@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
TYPE_SEND_STATUS_QUERY_REQ(MessagePad.MessageType.MsgTypeStatusQueryReq, "状态查询请求"),
@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答"),
TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式", 5000),
TYPE_SEND_RECORD_DATA_CONFIG_REQ(MessagePad.MessageType.MsgTypeRecordDataConfigReq, "数据采集配置查询"),
TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP(MessagePad.MessageType.MsgTypeRecordDataConfigResp, "数据采集配置"),
TYPE_SEND_OPERATOR_CMD_REQ(MessagePad.MessageType.MsgTypeOperatorCmdReq, "操控指令", 5000),
TYPE_SEND_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, "数据订阅、取消订阅请求", 5000),
TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, "特种车辆命令", 5000),
TYPE_SEND_SET_PARAM_REQ(MessagePad.MessageType.MsgTypeSetParamReq, "设置参数命令", 5000),
TYPE_SEND_TRIP_INFO_REQ(MessagePad.MessageType.MsgTypeTripInfoEvent, "行程信息"),
TYPE_SEND_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理请求"),
TYPE_RECEIVE_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理应答"),
TYPE_SEND_PLANNING_CMD(MessagePad.MessageType.MsgTypePlanningCmd, "给Planning指令", 5000),
TYPE_SEND_SET_PARAM_REQ_V2(MessagePad.MessageType.MsgTypeSetParamReqV2, "设置参数命令V2", 5000),
TYPE_RECEIVE_V2N_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nCongestionEvent, "主车附近事件推送"),
TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS(MessagePad.MessageType.MsgTypeV2nGlobalPathEvents, "主车路径全局事件推送"),
TYPE_SEND_GET_PARAM_REQ(MessagePad.MessageType.MsgTypeGetParamReq, "参数获取请求"),
TYPE_RECEIVE_GET_PARAM_RESP(MessagePad.MessageType.MsgTypeGetParamResp, "参数获取应答"),
TYPE_SEND_SWEEPER_CLOUD_TASK_CMD(MessagePad.MessageType.MsgTypeTaskCmd, "发送清扫车指令到云控", 5000),
TYPE_RECEIVE_SWEEPER_CLOUD_TASK_CMD(MessagePad.MessageType.MsgTypeTaskCmd, "云控下发清扫车任务指令", 5000),
TYPE_SEND_FSM_STATUS_REASON_QUERY_REQ(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryReq, "FSM状态原因查询"),
TYPE_RECEIVE_FSM_STATUS_REASON_QUERY_RESP(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryResp, "FSM状态原因查询应答"),
TYPE_SEND_GET_DEBUG_INFO_REQ(MessagePad.MessageType.MsgTypeGetDebugInfo, "Debug信息请求"),
TYPE_RECEIVE_GET_DEBUG_INFO_RESP(MessagePad.MessageType.MsgTypeGetDebugInfo, "Debug信息应答"),
TYPE_SEND_PARALLEL_DRIVING_REQ(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶请求", 5000),
TYPE_RECEIVE_PARALLEL_DRIVING_STATUS(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶状态", 5000),
TYPE_SEND_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "发送消息回执"),
TYPE_RECEIVE_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "接收消息回执"),
//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"),
TYPE_RECEIVE_OBU_WARNING_DATA(MessagePad.MessageType.MsgTypeObuWarningData, "OBU预警事件"),
;
/**
* 消息action code
*/
public final MessagePad.MessageType typeCode;
/**
* 描述
*/
public final String desc;
/**
* 消息回执超时时间 毫秒 0：表示不需要回执
*/
public final long timeoutMillis;
MessageType(MessagePad.MessageType typeCode, String desc) {
this(typeCode, desc, 0);
}
MessageType(MessagePad.MessageType typeCode, String desc, long timeoutMillis) {
this.typeCode = typeCode;
this.desc = desc;
this.timeoutMillis = timeoutMillis;
}
}

85
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReceivedAck.java Normal file
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package com.zhjt.mogo.adas.data.bean;
import com.google.protobuf.TextFormat;
import com.zhjt.mogo.adas.common.MessageType;
import com.zhjt.mogo.adas.utils.ByteUtil;
import mogo.telematics.pad.MessagePad;
/**
* 消息回执
*/
public class ReceivedAck {
/**
* 是否超时,如果超时 receiveTime和receivedAck不会被赋值
* 超时时间定义在{@link MessageType}中，根据定义的超时时间实际返回的超时时间 ±1 秒内
*/
private boolean isTimeout = false;
private final long sendTime;//数据发送时间
private long receiveTime;//回执接收时间
private final long msgId;//消息ID
private final MessageType messageType;//具体消息
private final byte[] sendData;//发送的数据
private MessagePad.ReceivedAck receivedAck;//回执的数据
public ReceivedAck(long sendTime, long msgId, MessageType messageType, byte[] sendData) {
this.sendTime = sendTime;
this.msgId = msgId;
this.messageType = messageType;
this.sendData = sendData;
}
public boolean isTimeout() {
return isTimeout;
}
public void setTimeout(boolean timeout) {
isTimeout = timeout;
}
public long getSendTime() {
return sendTime;
}
public long getReceiveTime() {
return receiveTime;
}
public void setReceiveTime(long receiveTime) {
this.receiveTime = receiveTime;
}
public long getMsgId() {
return msgId;
}
public MessageType getMessageType() {
return messageType;
}
public byte[] getSendData() {
return sendData;
}
public MessagePad.ReceivedAck getReceivedAck() {
return receivedAck;
}
public void setReceivedAck(MessagePad.ReceivedAck receivedAck) {
this.receivedAck = receivedAck;
}
@Override
public String toString() {
return "{" +
"是否超时=" + isTimeout +
", 发送时间=" + sendTime +
", 接收时间=" + receiveTime +
", 消息ID=" + msgId +
", 消息类型=" + messageType +
", 发送数据=" + (sendData == null ? null : ByteUtil.byteArrToHex(sendData)) +
", 回执数据=" + (receivedAck == null ? null : TextFormat.printer().escapingNonAscii(false).printToString(receivedAck)) +
'}';
}
}

81
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -13,28 +13,30 @@ enum MessageType
{
MsgTypeDefault = 0;
MsgTypePlanningDecisionState = 0x00001; //planning决策状态, 透传
MsgTypeSweeperTaskIndexData = 0x00002; //清扫车指标数据
MsgTypeObuWarningData = 0x00003; //obu预警事件
//透传消息列表，不需要明确消息定义, 仅作记录，供鹰眼使用
MsgTypePlanningDecisionState = 0x00001; //planning决策状态, 透传 定频10hz
MsgTypeSweeperTaskIndexData = 0x00002; //清扫车指标数据 定频10hz
MsgTypeObuWarningData = 0x00003; //obu预警事件 不定频
MsgTypeTrajectory = 0x10000; //局部轨迹,车前引导线
MsgTypeTrackedObjects = 0x10001; //障碍物信息
MsgTypeGnssInfo = 0x10002; //惯导信息
MsgTypeVehicleState = 0x10003; //底盘信息, 透传底盘状态，pb参考底盘
MsgTypeAutopilotState = 0x10004; //自动驾驶状态
MsgTypeReportMessage = 0x10005; //监控事件报告
MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
MsgTypePointCloud = 0x10008; //点云透传
MsgTypePlanningObjects = 0x10009; //planning障碍物
MsgTypeOBU = 0x1000a; //OBU
MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
MsgTypeBackCameraVideo = 0x1000d; //后部摄像头视频 10hz
MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 10hz
MsgTypeSSMState = 0x1000f; //ssm 系统状态 1hz hq m1 MAP350开始支持，其他车型MAP360开始支持
MsgTypeFMState = 0x10010; //FM状态 1hz bus和清扫车是MAP370开始支持，其他车型MAP360开始支持
MsgTypeTrajectory = 0x10000; //局部轨迹,车前引导线 定频10hz
MsgTypeTrackedObjects = 0x10001; //障碍物信息 定频10hz
MsgTypeGnssInfo = 0x10002; //惯导信息 定频20hz
MsgTypeVehicleState = 0x10003; //底盘信息, 透传底盘状态，pb参考底盘 定频20hz
MsgTypeAutopilotState = 0x10004; //自动驾驶状态 定频20hz
MsgTypeReportMessage = 0x10005; //系统事件 不定频
MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯 定频10hz
MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测 定频10hz
MsgTypePointCloud = 0x10008; //点云透传 定频1hz
MsgTypePlanningObjects = 0x10009; //planning障碍物 定频10hz
MsgTypeOBU = 0x1000a; //OBU红绿灯, 宜宾df专用, 非常态, 有则定频10hz
MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传 定频20hz
MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传 定频1hz
MsgTypeBackCameraVideo = 0x1000d; //清扫车后部摄像头视频 定频10hz
MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 定频10hz
MsgTypeSSMState = 0x1000f; //ssm 系统状态 定频1hz hq m1 MAP350开始支持，其他车型MAP360开始支持
MsgTypeFMState = 0x10010; //FM状态 定频1hz bus和清扫车是MAP370开始支持，其他车型MAP360开始支持
//### 以下消息全部不定频 ###
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
MsgTypeSetAutopilotModeReq = 0x10102; //设置自动驾驶模式
@@ -47,8 +49,8 @@ enum MessageType
MsgTypeSetAutopilotSpeedReq = 0x10109; //设置自动驾驶最大速度
MsgTypeGlobalPathReq = 0x1010a; //自动驾驶路径请求
MsgTypeGlobalPathResp = 0x1010b; //自动驾驶路径应答
MsgTypeTrafficLightData = 0x1010c; //发送红绿灯数据到工控机
MsgTypeWarn = 0x1010d; //预警数据
MsgTypeTrafficLightData = 0x1010c; //发送红绿灯数据到工控机 废弃
MsgTypeWarn = 0x1010d; //预警数据 废弃
MsgTypeArrivalNotification = 0x1010e; //到站提醒
MsgTypeSystemCmdReq = 0x1010f; //系统命令请求, 比如系统重启，启用新镜像
MsgTypeTrajectoryDownloadReq = 0x10110; //轨迹下载请求
@@ -74,6 +76,7 @@ enum MessageType
MsgTypeFSMStatusReasonQueryResp = 0x10124; //fsm状态原因查询应答
MsgTypeGetDebugInfo = 0x10125; //debug信息查询 pad->telematics
MsgTypeParallelDrivingCmd = 0x10126; //无人化场景，平行驾驶请求相关指令及状态反馈, 云控<->鹰眼双向透传
MsgTypeReceivedAck = 0x10127; //消息接收ack, 表示消息已接收到
}
message Header
@@ -82,6 +85,13 @@ message Header
MessageType msgType = 2; //消息类型
double timestamp = 3; //消息发送时间, 单位：秒
double sourceTimestamp = 4; //数据源消息发送时间, 单位：秒
uint32 needAck = 5; //是否需要接收回执,仅重要消息使用 0: 不需要 1: 需要
}
// message definition for MsgTypeReceivedAck
message ReceivedAck
{
repeated uint64 msgids = 1; //确认收到的msgid列表
}
// message definition for MsgTypeTrajectory
@@ -111,13 +121,14 @@ enum AdditionalAttribute
ATTR_ROAD_CONSTRUCTION = 2; // 道路施工区域
ATTR_STATIC = 3; // 静止障碍物
ATTR_ACCIDENT = 4; // 事故车
ATTR_ROAD_CONGESTION = 5; // 车辆拥堵
}
// message definition for MsgTypeTrackedObjects
message SubSource
{
uint32 source = 1; // TrackedSource=1:1-lidar 2-camera 3-radar 4-vidar 5-falcon
// TrackedSource=2:1-v2v_bsm 2-v2i_rsm 3-v2v_ssm 4-v2n_rsm 5-v2n_rsi 6-v2i_ssm
// TrackedSource=2:1-v2v_bsm 2-v2i_rsm 3-v2v_ssm 4-v2n_rsm 5-v2n_rsi 6-v2i_ssm 7-v2i_rsi
string id = 2; //HEX_string -bsm_id
}
@@ -132,7 +143,8 @@ message TrackedObject
uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle,
//5:TrafficSign, 6:Bus, 7:CellPhone, 8:Truck, 9:Bottle, 10:TrafficLight,
//11:Rider, 12:TriangleRoadblock, 13:WarningTriangle, 100:Unknown,
//501:RoadWork_occupy_0501, 502:RoadWork_break_0502
//447:TAILBACK 501:RoadWork_occupy_0501, 502:RoadWork_break_0502,
//707:ROAD_CONGESTION
double longitude = 2; //经度
double latitude = 3; //纬度
double altitude = 4; //海拔
@@ -155,7 +167,8 @@ message TrackedObject
}
message LocalizationInfo{
message LocalizationInfo
{
double stamp = 1; //seconds
float longitude = 2;
float latitude = 3;
@@ -175,6 +188,7 @@ message TrackedObjects
{
repeated TrackedObject objs = 1;
BlindAreaData blindAreaData = 2;
uint32 collision_risk = 3; //0: no risk 1: risk with a < -5m/s2 2: collision detected
}
// message definition for MsgTypeGnssInfo
@@ -228,7 +242,7 @@ message PlanningObject
message PlanningObjects
{
repeated PlanningObject objs = 1;
repeated PlanningObject objs = 1;
}
// message definition for MessageType: MsgTypeOBU
@@ -437,11 +451,15 @@ enum SystemCmdType
{
SYSTEMCMD_NONE = 0;
SYSTEMCMD_REBOOT = 1;
SYSTEMCMD_START_NODE = 2;
SYSTEMCMD_STOP_NODE = 3;
SYSTEMCMD_POWER_OFF = 4;//MAP 410上线
}
message SystemCmdReq
{
SystemCmdType cmdType = 1; //
SystemCmdType cmdType = 1;
uint32 node = 2; //0: default, 1: 前向camera 30 2: lidar 3: 左前radar 4: calib_check node（MAP 410上线）
}
// message definition for MsgTypeStatusQueryReq
@@ -544,6 +562,8 @@ enum DrivingState
LANE_AVOID_LEFT_RSI_TRIANGLE = 29; //V2N 三角锥主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
LANE_AVOID_RIGHT_RSI_TRIANGLE = 30; //V2N 三角锥主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
WAITING_RSI_TRIANGLE = 31; //V2N 三角锥正在等待变道避让施工场景/静止障碍物: driving_action：1 表示正在等待；driving_action:2 表示等待超时请求平行驾驶
OUT_OF_ODD = 32; //超出设计运行范围（北京牌照考试）: driving_action:1 表示红灯ODD（快速路信号灯）和绕障ODD（静止车占用部分车道，对向车辆借道行驶）
}
enum DrivingAction
@@ -604,7 +624,7 @@ message PlanningActionMsg
//message definition for MsgTypeSetParamReq
message SetOneParam
{
uint32 type = 1; // 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s)
uint32 type = 1; // 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s),针对低速绕行功能的
// 3:AEB开关(bool) 0:关闭自动紧急制动功能 1:启用自动紧急制动功能
// 4:限制绕障开关(bool) 0:正常绕障 1：限制绕障 默认0
// 5:停车让行线前避让等待开关(bool) 0:停车让行线前无需等待 1:停车让行线前需要等待 默认0
@@ -617,8 +637,9 @@ message SetOneParam
// 12: 融合v2n开关(bool) 0:不发给PnC 1:发给Pnc /telematics/fusion/v2n_flag
// 13: 融合v2i开关(bool) 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0 /telematics/fusion/v2i_flag
// 14: 融合模式(int) 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1 /telematics/fusion/fusion_mode
// 15: 座椅状态(int) 0:表示仅主驾位有人,1:表示仅副驾位有人,2:表示主驾和副驾同时有人,3:表示仅后排有人,4:表示主驾有人+后排有人,5:表示副驾有人+后排有人,6:表示主驾和副驾同时有人+后排有人,7: 所有座位都无人, 255:缺省
// 16: 超车的最大速度阈值(double, m/s, 范围[3, 12.5])
// 15：座椅状态(int) 0:表示仅主驾位有人,1:表示仅副驾位有人,2:表示主驾和副驾同时有人,3:表示仅后排有人,4:表示主驾有人+后排有人,5:表示副驾有人+后排有人,6:表示主驾和副驾同时有人+后排有人,7: 所有座位都无人, 255:缺省
// 16: 超车的最大速度阈值(double, m/s) T1/T2: 范围[3, 12.5], 默认值10
// 17: 故障模拟指令(int) default:0, 1:线控失效
string value = 2; // 转成字符串的值
}

17
libraries/mogo-adas-data/src/main/proto/personal/adas.proto Normal file
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@@ -0,0 +1,17 @@
syntax = "proto3";
package mogo.telematics.pad;
option java_package = "com.zhjt.mogo.adas.data";
import "message_pad.proto";
//发送的数据ID持久化，只保留最后一条的消息id，每天重新累计
message LastMessage{
uint64 msgID = 1; //消息唯一id
uint64 timestamp = 2;//消息发送时间 单位：毫秒
mogo.telematics.pad.MessageType msgType = 3;//消息类型
}
message MessageIdInfo{
map<uint64, LastMessage> lastMessages = 1;// key：data（日期） value：数据
}

1
libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto
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@@ -51,4 +51,5 @@ message SpecialVehicleTaskCmd {
optional RoboSweeperFuTianTaskCmd robo_sweeper_futian_task_cmd = 2; // 福田清扫车业务指令
optional RoboVanSkywellTaskCmd robo_van_skywell_task_cmd = 3; // 开沃小巴业务指令
optional RoboBusJinlvM1Cmd robo_bus_jinlv_m1_cmd = 4; //金旅定制车m1指令
optional uint32 source = 5; //消息来源, 0:鹰眼, 1:云端
}

6
libraries/mogo-adas-data/src/main/proto/vehicle_state.proto
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@@ -76,7 +76,7 @@ message DoorState {
message DoorStateV2 {
optional DoorNumber number = 1; // 车门编号
optional uint32 status = 2; // 车门开闭状态(0-关, 1-开)
optional uint32 status = 2; // 车门开闭状态(0-关, 1-开, 2-unknown 底盘通信有问题)
}
message LightState {
@@ -121,13 +121,13 @@ message VehicleState {
optional bool steer_inference = 23 [default = false]; //方向盘干预
optional bool brake_inference = 24 [default = false]; //制动踏板干预
optional bool accel_inference = 25 [default = false]; //加速踏板干预
optional bool gear_switch_inference = 26 [default = false]; //档位切换干预
optional bool gear_switch_inference = 26 [default = false]; //档位切换干预
optional bool location_missing = 27 [default = false]; //未收到定位
optional bool trajectory_missing = 28 [default = false]; //未收到轨迹
optional bool chassis_status_missing = 29 [default = false]; //未收到车辆底盘反馈信息
optional bool brake_light_status = 30 [default = false]; //自驾模式下制动灯状态
optional bool pilot_mode_condition_met = 31 [default = false];
optional float steeringSpd = 32 [default = 0]; // steering angle speed in degrees/s
optional float leftFrontWheelAngle = 33 [default = 0];//左前轮角度（deg）,左负右正