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[pb9][v2i透传] 工控机透传OBU V2I数据接口

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xinfengkun
2023-01-29 11:12:31 +08:00
parent 9a5def9afa
commit a5a8157f6d
11 changed files with 111 additions and 0 deletions
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9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -9,6 +9,7 @@ import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.ObuWarningEvent;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
@@ -194,6 +195,14 @@ public interface OnAdasListener {
*/
void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg);
/**
* OBU预警事件
*
* @param header 头
* @param obuWarningData 数据
*/
void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData);
/**
* 重构后的功能状态
*

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
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@@ -61,6 +61,7 @@ public enum MessageType {
//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"),
;

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -32,6 +32,7 @@ public class MyMessageFactory implements IMyMessageFactory {
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
private IMsg obuWarningDataMessage;//工控机透传OBU V2I数据
private IMsg functionStatesMessage;//重构后的功能状态
private IMsg sweeperTaskIndexDataMessage;//清扫车指标数据
private IMsg bagManagerMessage;//Bag管理应答
@@ -158,6 +159,12 @@ public class MyMessageFactory implements IMyMessageFactory {
planningDecisionStateMessage = new PlanningDecisionStateMessage();
}
return planningDecisionStateMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_OBU_WARNING_DATA.typeCode) {
//OBU预警事件
if (obuWarningDataMessage == null) {
obuWarningDataMessage = new ObuWarningDataMessage();
}
return obuWarningDataMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA.typeCode) {
//清扫车指标数据
if (sweeperTaskIndexDataMessage == null) {

31
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java Normal file
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@@ -0,0 +1,31 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
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.v2x.ObuWarningEvent;
/**
* OBU预警事件
*/
public class ObuWarningDataMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
ObuWarningEvent.ObuWarningData obuWarningData = ObuWarningEvent.ObuWarningData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("OBU预警事件", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onObuWarningData(raw.getHeader(), obuWarningData);
}
AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime);
}
}