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[change] 添加状态查询请求和添加状态查询应答

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This commit is contained in:
xinfengkun
2022-06-08 23:49:23 +08:00
parent 3b6815be18
commit 9bf94a9765
15 changed files with 229 additions and 82 deletions
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15
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -38,6 +38,8 @@ enum MessageType
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
MsgTypeStatusQueryReq = 0x10111; //状态查询请求
MsgTypeStatusQueryResp = 0x10112; //状态查询应答
}
message Header
@@ -327,12 +329,13 @@ message SystemCmdReq
SystemCmdType cmdType = 1; //
}
// message definition for MsgTypeStatusQueryReq
message StatusQueryReq
{
}
// message definition for MsgTypeStatusQueryResp
// refer to system_status_info.proto

47
libraries/mogo-adas-data/src/main/proto/system_status_info.proto Normal file
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@@ -0,0 +1,47 @@
syntax = "proto2";
package system_master;
enum SystemState {
SYS_STARTING = 0;
SYS_RUNNING = 1;
SYS_EXITING = 2;
SYS_FAULT = 3;
PILOT_READY = 4;
AUTO_PILOT_STARTING = 5;
AUTO_PILOT_RUNNING = 6;
REMOTE_PILOT_STARTING = 7;
REMOTE_PILOT_RUNNING = 8;
}
enum HealthState {
NORMAL = 0;
FAULT = 1;
UNKNOW = 2;
}
message HealthInfo{
required string name = 1; //node name
required HealthState state = 2; //health state
optional string code = 3; //code 与系统事件错误码对应，如有该错误填写，没有不填
optional string desc = 4; //补充描述，用于未知情况
}
message TopicInfo{
optional string name = 1; //topic name
optional int32 hz = 2;
// optional int32 max_delay = 3; //unit： msec
}
message DropTopic{
required int32 sum = 1; //dropped topic sum
repeated TopicInfo topic = 2;
}
message StatusInfo {
required SystemState sys_state=1; // 当前消息状态
repeated HealthInfo health_info=2; // 健康检查状态信息
optional DropTopic topic_drop_info=3; // topic 掉频信息， 如有掉频添加没有不添加
optional string reserved = 4; // 预留可选字段，用于接口扩充或者，其他信息补充
}

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -862,5 +862,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
MessagePad.TrajectoryDownloadReq req = builder.build();
return sendWsMessage(MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ.typeCode, req.toByteArray());
}
/**
* 发送 状态查询请求
*
* @return boolean
*/
@Override
public boolean sendStatusQueryReq() {
MessagePad.StatusQueryReq req = MessagePad.StatusQueryReq
.newBuilder()
.build();
return sendWsMessage(MessageType.TYPE_SEND_STATUS_QUERY_REQ.typeCode, req.toByteArray());
}
}

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -406,6 +406,16 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.sendTrajectoryDownloadReq(line);
}
/**
* 发送 状态查询请求
*
* @return boolean
*/
@Override
public boolean sendStatusQueryReq() {
return mChannel != null && mChannel.sendStatusQueryReq();
}
/**
* 获取工控机固定IP列表
*

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
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@@ -188,6 +188,13 @@ public interface IAdasNetCommApi {
*/
boolean sendTrajectoryDownloadReq(MessagePad.Line line);
/**
* 发送 状态查询请求
*
* @return boolean
*/
boolean sendStatusQueryReq();
// TODO 需求暂停 待讨论
// boolean getRoutes();

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -9,6 +9,7 @@ import perception.TrafficLightOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
import rule_segement.MogoPointCloudOuterClass;
import system_master.SystemStatusInfo;
/**
* @ProjectName: lib-adas-fpga
@@ -155,6 +156,14 @@ public interface OnAdasListener {
*/
void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification);
/**
* 状态查询应答
*
* @param header 头
* @param statusInfo 数据
*/
void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo);
/**
* 数据错误
*

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
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@@ -12,16 +12,16 @@ import mogo.telematics.pad.MessagePad;
public enum MessageType {
TYPE_DEFAULT(MessagePad.MessageType.MsgTypeDefault, "默认"),
TYPE_RECEIVE_TRAJECTORY(MessagePad.MessageType.MsgTypeTrajectory, "局部轨迹,车前引导线"),
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, "底盘信息, 透传底盘状态，pb参考底盘"),
TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "底盘信息"),
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_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
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"),
@@ -40,7 +40,9 @@ public enum MessageType {
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, 比如系统重启，启用新镜像"),
TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, "轨迹下载请求");
TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, "轨迹下载请求"),
TYPE_SEND_STATUS_QUERY_REQ(MessagePad.MessageType.MsgTypeStatusQueryReq, "状态查询请求"),
TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答");
/**
* 消息action code

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -28,6 +28,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg globalPathRespMessage;//自动驾驶路径应答
private IMsg warnMessage;//预警数据
private IMsg arrivalNotificationMessage;//到站提醒
private IMsg statusQueryRespMessage;//状态查询应答
@Override
@@ -128,6 +129,12 @@ public class MyMessageFactory implements IMyMessageFactory {
arrivalNotificationMessage = new ArrivalNotificationMessage();
}
return arrivalNotificationMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP.typeCode) {
//状态查询应答
if (statusQueryRespMessage == null) {
statusQueryRespMessage = new StatusQueryRespMessage();
}
return statusQueryRespMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;

24
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java Normal file
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@@ -0,0 +1,24 @@
package com.zhidao.support.adas.high.msg;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.protocol.RawData;
import mogo.telematics.pad.MessagePad;
import system_master.SystemStatusInfo;
/**
* 状态查询应答
*/
public class StatusQueryRespMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
SystemStatusInfo.StatusInfo statusInfo= SystemStatusInfo.StatusInfo.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
if (adasListener != null) {
adasListener.onStatusQueryResp(raw.getHeader(), statusInfo);
}
// CupidLogUtils.e("状态查询应答--->" + statusInfo.toString());
}
}