[change] pb 添加透传Planning决策状态

2022-08-09 12:32:04 +08:00
parent fa1e5ed21f
commit 9345eabbdb
12 changed files with 131 additions and 24 deletions
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -3,13 +3,15 @@ package mogo.telematics.pad;

 enum ProtocolVersion{
    Defaultver = 0;
-    CurrentVersion = 6; //每次修改proto文件增加1
+    CurrentVersion = 7; //每次修改proto文件增加1
 }

 enum MessageType
 {
    MsgTypeDefault = 0;

+    MsgTypePlanningDecisionState = 0x00001; //planning决策状态, 透传
+
    MsgTypeTrajectory = 0x10000; //局部轨迹,车前引导线
    MsgTypeTrackedObjects = 0x10001; //障碍物信息
    MsgTypeGnssInfo = 0x10002; //惯导信息
@@ -403,5 +405,38 @@ message OperatorCmdReq
                      //OPERATOR_CMD_SET_HORN: 1: honk 2: stop honking
 }

+//message definition for MsgTypePlanningDecisionState
+enum DrivingState{
+    NO_AUTODRIVING = 0; //不在自动驾驶状态
+    LANKE_KEEP = 1; //车道保持状态
+    TRAFFIC_LIGHT = 2; //红绿灯通行状态： driving_action：1 表示停止动作；driving_action:2 表示通行动作
+    FOLLOW_LANE_CHANGE_LEFT = 3; //follow全局择机向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示择机保持；driving_action:3 表示变道完成
+    FOLLOW_LANE_CHANGE_RIGHT = 4; //follow全局择机向右变道状态: driving_action：1 表示触发变道；driving_action:2 表示择机保持；driving_action:3 表示变道完成
+    AUTO_LANE_CHANGE_LEFT = 5; //主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
+    AUTO_LANE_CHANGE_RIGHT = 6; //主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
+    LANE_AVOID_LEFT = 7; //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 = 8; //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
+    START_UP = 9; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步；
+    PULL_OVER = 10; //靠边停车状态： driving_action：1 表示正常靠边停车；driving_action:2 表示择机靠边停车；
+    UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应；
+}

+enum DrivingAction{
+    DRIVING_Action_STATE_NONE = 0;
+    DRIVING_ACTION_STATE_ONE = 1;
+    DRIVING_ACTION_STATE_TWO = 2;
+    DRIVING_ACTION_STATE_THREE = 3;
+    DRIVING_ACTION_STATE_FOUR = 4;
+}

+message DrivingActionMsg
+{
+    DrivingState driving_state = 1;
+    DrivingAction driving_action = 2;
+}
+
+message PlanningActionMsg
+{
+    DrivingActionMsg action_msg = 1;
+    double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值)
+}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -170,6 +170,14 @@ public interface OnAdasListener {
     */
    void onRecordDataConfigResp(MessagePad.Header header, MessagePad.RecordDataConfig config);

+    /**
+     * planning决策状态, 透传
+     *
+     * @param header            头
+     * @param planningActionMsg 数据
+     */
+    void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg);
+
    /**
     * 数据错误
     *
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
@@ -47,7 +47,10 @@ public enum MessageType {
    TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式"),
    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_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, "数据订阅、取消订阅请求");
+    TYPE_SEND_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, "数据订阅、取消订阅请求"),
+    //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ADAS_DATA message_pad.proto中放开注释
+    TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态");
+

    /**
     * 消息action code
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
@@ -29,6 +29,7 @@ public class MyMessageFactory implements IMyMessageFactory {
    private IMsg arrivalNotificationMessage;//到站提醒
    private IMsg statusQueryRespMessage;//状态查询应答
    private IMsg recordDataConfigRespMessage;//数据采集配置应答
+    private IMsg planningDecisionStateMessage;//planning决策状态


    @Override
@@ -135,6 +136,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                recordDataConfigRespMessage = new RecordDataConfigRespMessage();
            }
            return recordDataConfigRespMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_PLANNING_DECISION_STATE.typeCode) {
+            //planning决策状态
+            if (planningDecisionStateMessage == null) {
+                planningDecisionStateMessage = new PlanningDecisionStateMessage();
+            }
+            return planningDecisionStateMessage;
        } else {
            //MessageType.TYPE_DEFAULT.typeCode
            return null;
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PlanningDecisionStateMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PlanningDecisionStateMessage.java
@@ -0,0 +1,23 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * planning决策状态, 透传
+ */
+public class PlanningDecisionStateMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        MessagePad.PlanningActionMsg planningActionMsg = MessagePad.PlanningActionMsg.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        if (adasListener != null) {
+            adasListener.onPlanningActionMsg(raw.getHeader(), planningActionMsg);
+        }
+    }
+}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
@@ -143,24 +143,6 @@ public class SubscribeInterface {
                }
            }
        }
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_TRAJECTORY, MessageType.TYPE_RECEIVE_TRAJECTORY.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_TRACKED_OBJECTS, MessageType.TYPE_RECEIVE_TRACKED_OBJECTS.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_GNSS_INFO, MessageType.TYPE_RECEIVE_GNSS_INFO.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_VEHICLE_STATE, MessageType.TYPE_RECEIVE_VEHICLE_STATE.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_AUTOPILOT_STATE, MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_REPORT_MESSAGE, MessageType.TYPE_RECEIVE_REPORT_MESSAGE.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT, MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY, MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_POINT_CLOUD, MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_PLANNING_OBJECTS, MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_BASIC_INFO_REQ, MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_CAR_CONFIG_RESP, MessageType.TYPE_RECEIVE_CAR_CONFIG_RESP.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_RECORD_RESULT, MessageType.TYPE_RECEIVE_RECORD_RESULT.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_GLOBAL_PATH_RESP, MessageType.TYPE_RECEIVE_GLOBAL_PATH_RESP.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_WARN, MessageType.TYPE_RECEIVE_WARN.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_ARRIVAL_NOTIFICATION, MessageType.TYPE_RECEIVE_ARRIVAL_NOTIFICATION.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP, MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP.typeCode.getNumber());
-//        subscribedInterface.put(MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP, MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP.typeCode.getNumber());
    }

 }