[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
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package com.zhjt.mogo.adas.common;
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import mogo.telematics.pad.MessagePad;
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/**
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* 工控机发送或接收的类型
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* 工控机接收接口必须包含TYPE_RECEIVE
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* 消息回执文档：http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=119731359
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*
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* @author nie yunlong
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* @description 请求值
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* @date 2018/7/3
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*/
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public enum MessageType {
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TYPE_DEFAULT(MessagePad.MessageType.MsgTypeDefault, "默认"),
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TYPE_RECEIVE_TRAJECTORY(MessagePad.MessageType.MsgTypeTrajectory, "车前引导线"),
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TYPE_RECEIVE_TRACKED_OBJECTS(MessagePad.MessageType.MsgTypeTrackedObjects, "障碍物信息"),
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TYPE_RECEIVE_GNSS_INFO(MessagePad.MessageType.MsgTypeGnssInfo, "惯导信息"),
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TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "老底盘状态"),
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TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, "自动驾驶状态"),
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TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"),
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TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
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TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
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TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
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TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
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TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
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TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
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TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "后摄像头"),
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TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
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TYPE_RECEIVE_SSM(MessagePad.MessageType.MsgTypeSSMState, "SSM系统状态"),
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TYPE_RECEIVE_FM_STATE(MessagePad.MessageType.MsgTypeFMState, "FM状态"),
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TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
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TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),
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TYPE_SEND_SET_AUTOPILOT_MODE_REQ(MessagePad.MessageType.MsgTypeSetAutopilotModeReq, "设置自动驾驶模式 启动自动驾驶", 5000),
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TYPE_SEND_SET_DEMO_MODE_REQ(MessagePad.MessageType.MsgTypeSetDemoModeReq, "设置演示模式", 5000),
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TYPE_SEND_CAR_CONFIG_REQ(MessagePad.MessageType.MsgTypeCarConfigReq, "车机基础信息请求"),
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TYPE_RECEIVE_CAR_CONFIG_RESP(MessagePad.MessageType.MsgTypeCarConfigResp, "车机基础信息应答"),
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TYPE_SEND_RECORD_CAUSE(MessagePad.MessageType.MsgTypeRecordCause, "记录人工接管原因"),
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TYPE_SEND_RECORD_DATA(MessagePad.MessageType.MsgTypeRecordData, "数据采集请求"),
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TYPE_RECEIVE_RECORD_RESULT(MessagePad.MessageType.MsgTypeRecordResult, "数据采集结果"),
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TYPE_SEND_SET_AUTOPILOT_SPEED_REQ(MessagePad.MessageType.MsgTypeSetAutopilotSpeedReq, "设置自动驾驶最大速度", 5000),
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TYPE_SEND_GLOBAL_PATH_REQ(MessagePad.MessageType.MsgTypeGlobalPathReq, "自动驾驶路径请求"),
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TYPE_RECEIVE_GLOBAL_PATH_RESP(MessagePad.MessageType.MsgTypeGlobalPathResp, "自动驾驶路径应答"),
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@Deprecated//MAP290开始此接口弃用
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TYPE_SEND_TRAFFIC_LIGHT_DATA(MessagePad.MessageType.MsgTypeTrafficLightData, "发送红绿灯数据到工控机"),
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@Deprecated
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TYPE_RECEIVE_WARN(MessagePad.MessageType.MsgTypeWarn, "预警数据"),
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TYPE_RECEIVE_ARRIVAL_NOTIFICATION(MessagePad.MessageType.MsgTypeArrivalNotification, "到站提醒"),
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TYPE_SEND_SYSTEM_CMD_REQ(MessagePad.MessageType.MsgTypeSystemCmdReq, "系统命令请求", 5000),
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TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, "轨迹下载请求", 5000),
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@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
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TYPE_SEND_STATUS_QUERY_REQ(MessagePad.MessageType.MsgTypeStatusQueryReq, "状态查询请求"),
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@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
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TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答"),
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TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式", 5000),
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TYPE_SEND_RECORD_DATA_CONFIG_REQ(MessagePad.MessageType.MsgTypeRecordDataConfigReq, "数据采集配置查询"),
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TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP(MessagePad.MessageType.MsgTypeRecordDataConfigResp, "数据采集配置"),
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TYPE_SEND_OPERATOR_CMD_REQ(MessagePad.MessageType.MsgTypeOperatorCmdReq, "操控指令", 5000),
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TYPE_SEND_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, "数据订阅、取消订阅请求", 5000),
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TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, "特种车辆命令", 5000),
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TYPE_SEND_SET_PARAM_REQ(MessagePad.MessageType.MsgTypeSetParamReq, "设置参数命令", 5000),
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TYPE_SEND_TRIP_INFO_REQ(MessagePad.MessageType.MsgTypeTripInfoEvent, "行程信息"),
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TYPE_SEND_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理请求"),
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TYPE_RECEIVE_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理应答"),
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TYPE_SEND_PLANNING_CMD(MessagePad.MessageType.MsgTypePlanningCmd, "给Planning指令", 5000),
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TYPE_SEND_SET_PARAM_REQ_V2(MessagePad.MessageType.MsgTypeSetParamReqV2, "设置参数命令V2", 5000),
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TYPE_RECEIVE_V2N_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nCongestionEvent, "主车附近事件推送"),
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TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS(MessagePad.MessageType.MsgTypeV2nGlobalPathEvents, "主车路径全局事件推送"),
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TYPE_SEND_GET_PARAM_REQ(MessagePad.MessageType.MsgTypeGetParamReq, "参数获取请求"),
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TYPE_RECEIVE_GET_PARAM_RESP(MessagePad.MessageType.MsgTypeGetParamResp, "参数获取应答"),
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TYPE_SEND_SWEEPER_CLOUD_TASK_CMD(MessagePad.MessageType.MsgTypeTaskCmd, "发送清扫车指令到云控", 5000),
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TYPE_RECEIVE_SWEEPER_CLOUD_TASK_CMD(MessagePad.MessageType.MsgTypeTaskCmd, "云控下发清扫车任务指令", 5000),
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TYPE_SEND_FSM_STATUS_REASON_QUERY_REQ(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryReq, "FSM状态原因查询"),
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TYPE_RECEIVE_FSM_STATUS_REASON_QUERY_RESP(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryResp, "FSM状态原因查询应答"),
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TYPE_SEND_GET_DEBUG_INFO_REQ(MessagePad.MessageType.MsgTypeGetDebugInfo, "Debug信息请求"),
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TYPE_RECEIVE_GET_DEBUG_INFO_RESP(MessagePad.MessageType.MsgTypeGetDebugInfo, "Debug信息应答"),
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TYPE_SEND_PARALLEL_DRIVING_REQ(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶请求", 5000),
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TYPE_RECEIVE_PARALLEL_DRIVING_STATUS(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶状态", 5000),
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TYPE_SEND_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "发送消息回执"),
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TYPE_RECEIVE_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "接收消息回执"),
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//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
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TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态"),
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TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, "清扫车指标数据"),
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TYPE_RECEIVE_OBU_WARNING_DATA(MessagePad.MessageType.MsgTypeObuWarningData, "OBU预警事件"),
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;
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/**
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* 消息action code
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*/
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public final MessagePad.MessageType typeCode;
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/**
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* 描述
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*/
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public final String desc;
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/**
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* 消息回执超时时间 毫秒 0：表示不需要回执
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*/
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public final long timeoutMillis;
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MessageType(MessagePad.MessageType typeCode, String desc) {
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this(typeCode, desc, 0);
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}
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MessageType(MessagePad.MessageType typeCode, String desc, long timeoutMillis) {
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this.typeCode = typeCode;
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this.desc = desc;
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this.timeoutMillis = timeoutMillis;
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}
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}
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@@ -0,0 +1,85 @@
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package com.zhjt.mogo.adas.data.bean;
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import com.google.protobuf.TextFormat;
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import com.zhjt.mogo.adas.common.MessageType;
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import com.zhjt.mogo.adas.utils.ByteUtil;
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import mogo.telematics.pad.MessagePad;
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/**
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* 消息回执
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*/
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public class ReceivedAck {
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/**
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* 是否超时,如果超时 receiveTime和receivedAck不会被赋值
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* 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
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*/
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private boolean isTimeout = false;
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private final long sendTime;//数据发送时间
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private long receiveTime;//回执接收时间
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private final long msgId;//消息ID
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private final MessageType messageType;//具体消息
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private final byte[] sendData;//发送的数据
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private MessagePad.ReceivedAck receivedAck;//回执的数据
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public ReceivedAck(long sendTime, long msgId, MessageType messageType, byte[] sendData) {
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this.sendTime = sendTime;
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this.msgId = msgId;
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this.messageType = messageType;
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this.sendData = sendData;
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}
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public boolean isTimeout() {
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return isTimeout;
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}
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public void setTimeout(boolean timeout) {
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isTimeout = timeout;
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}
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public long getSendTime() {
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return sendTime;
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}
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public long getReceiveTime() {
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return receiveTime;
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}
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public void setReceiveTime(long receiveTime) {
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this.receiveTime = receiveTime;
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}
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public long getMsgId() {
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return msgId;
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}
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public MessageType getMessageType() {
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return messageType;
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}
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public byte[] getSendData() {
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return sendData;
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}
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public MessagePad.ReceivedAck getReceivedAck() {
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return receivedAck;
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}
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public void setReceivedAck(MessagePad.ReceivedAck receivedAck) {
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this.receivedAck = receivedAck;
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}
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@Override
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public String toString() {
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return "{" +
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"是否超时=" + isTimeout +
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", 发送时间=" + sendTime +
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", 接收时间=" + receiveTime +
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", 消息ID=" + msgId +
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", 消息类型=" + messageType +
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", 发送数据=" + (sendData == null ? null : ByteUtil.byteArrToHex(sendData)) +
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", 回执数据=" + (receivedAck == null ? null : TextFormat.printer().escapingNonAscii(false).printToString(receivedAck)) +
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'}';
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}
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}
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