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[change] pb 添加透传Planning决策状态

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This commit is contained in:
xinfengkun
2022-08-09 12:32:04 +08:00
parent fa1e5ed21f
commit 9345eabbdb
12 changed files with 131 additions and 24 deletions
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8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -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
*

5
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
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@@ -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

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -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;

23
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PlanningDecisionStateMessage.java Normal file
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@@ -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);
}
}
}

18
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
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@@ -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());
}
}