From aa702564c1815479200b0aff6de80fcfab88e769 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Thu, 6 Nov 2025 17:10:32 +0800 Subject: [PATCH] =?UTF-8?q?[8.2.8][i18n]=20adas-data=20MessageType.java=20?= =?UTF-8?q?=E4=B8=AD=E6=96=87=E6=8A=BD=E5=8F=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/AndroidManifest.xml | 2 +- .../IpcConnectionStatusDescription.java | 81 ------ .../zhjt/mogo/adas/common/MessageType.java | 233 ++++++++++-------- .../src/main/res/values/strings.xml | 108 ++++++++ 4 files changed, 233 insertions(+), 191 deletions(-) delete mode 100644 libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/IpcConnectionStatusDescription.java create mode 100644 libraries/mogo-adas-data/src/main/res/values/strings.xml diff --git a/libraries/mogo-adas-data/src/main/AndroidManifest.xml b/libraries/mogo-adas-data/src/main/AndroidManifest.xml index db7896fc5e..cd2aec1f91 100644 --- a/libraries/mogo-adas-data/src/main/AndroidManifest.xml +++ b/libraries/mogo-adas-data/src/main/AndroidManifest.xml @@ -1 +1 @@ - + diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/IpcConnectionStatusDescription.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/IpcConnectionStatusDescription.java deleted file mode 100644 index a14193b55d..0000000000 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/IpcConnectionStatusDescription.java +++ /dev/null @@ -1,81 +0,0 @@ -package com.zhjt.mogo.adas.common; - - -import androidx.annotation.NonNull; -import androidx.annotation.Nullable; - -import com.zhjt.mogo.adas.data.AdasConstants; - -/** - * 连接状态描述信息 - * 文案消息根据产品文档定义，详情见地址中的“工控机相关异常完善提示内容”模块：http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=126243915 - */ -public enum IpcConnectionStatusDescription { - DISCONNECTED(AdasConstants.IpcConnectionStatus.DISCONNECTED, "未连接或主动断开连接", "未连接：首次启动时未调用连接函数；主动断开连接：主动调用断开连接函数；"), - CONNECTED(AdasConstants.IpcConnectionStatus.CONNECTED, "已连接", null), - CONNECTING(AdasConstants.IpcConnectionStatus.CONNECTING, "连接中", null), - RECONNECTING_TIMER(AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER, "重连中（定时器）", null), - RECONNECTING_NETWORK(AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK, "重连中（网络监听）", null), - CONNECT_EXCEPTION(AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION, "连接异常", "与域控连接失败、无法连接、非正常断开等"), - ILLEGAL_ADDRESS(AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS, "非法地址", "连接模式为指定地址时：表示当前调用连接时传入的域控地址错误或不符合规则【不修改默认配置不会出现此问题】；连接模式为PING模式时：表示传入的PING地址列表存在问题【不修改默认配置不会出现此问题】"), - SEARCH_ADDRESS(AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS, "搜索中", "连接模式为PING模式时,正在查找是否有可用的域控地址"), - NOT_FOUND_ADDRESS(AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS, "未找到", "连接模式为PING模式时,配置的域控地址列表中的全部地址均无法PING通【不修改默认配置的情况下需要排查PAD是否连接车载路由器、工控机是否连接车载路由器、工控机是否开机等】"), - CERTIFICATION_FAILED(AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED, "认证异常", "鹰眼端或鹰眼端和域控端启用认证后，认证出现异常"), - HEARTBEAT_TIMEOUT(AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT, "心跳超时", "连接域控成功后在一段时间内未收到域控心跳数据或其它任何数据，默认4秒【可以配置】"), - PROTOCOL_MISMATCH(AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH, "协议不匹配", "被连接的域控端非WebSocket协议【可能性非常低】"), - SERVER_DISCONNECTED(AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED, "域控断开", "域控主动发起断开WebSocket连接，目前主要原因有：1.证书认证失败；2.老版本MAP不支持多连接的情况下会踢掉客户端；"); - - - @NonNull - public final AdasConstants.IpcConnectionStatus status; - @NonNull - public final String name;//消息类型准确定义名称 - @Nullable - public final String desc;//描述或简单的解决办法或出现此状态的原因 - - public String msg;//自定义消息数据 - - IpcConnectionStatusDescription(@NonNull AdasConstants.IpcConnectionStatus status, @NonNull String name, @Nullable String desc) { - this.status = status; - this.name = name; - this.desc = desc; - } - - @NonNull - public static IpcConnectionStatusDescription getDescription(@Nullable AdasConstants.IpcConnectionStatus status) { - if (status == AdasConstants.IpcConnectionStatus.CONNECTED) { - return CONNECTED; - } else if (status == AdasConstants.IpcConnectionStatus.CONNECTING) { - return CONNECTING; - } else if (status == AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER) { - return RECONNECTING_TIMER; - } else if (status == AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK) { - return RECONNECTING_NETWORK; - } else if (status == AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION) { - return CONNECT_EXCEPTION; - } else if (status == AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS) { - return ILLEGAL_ADDRESS; - } else if (status == AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS) { - return SEARCH_ADDRESS; - } else if (status == AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS) { - return NOT_FOUND_ADDRESS; - } else if (status == AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED) { - return CERTIFICATION_FAILED; - } else if (status == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT) { - return HEARTBEAT_TIMEOUT; - } else if (status == AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH) { - return PROTOCOL_MISMATCH; - } else if (status == AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED) { - return SERVER_DISCONNECTED; - } else { -// status==AdasConstants.IpcConnectionStatus.DISCONNECTED - return DISCONNECTED; - } - } - - @NonNull - @Override - public String toString() { - return name; - } -} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java index 3892c83e6b..264861b6c1 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java @@ -1,5 +1,11 @@ package com.zhjt.mogo.adas.common; +import android.content.Context; + +import androidx.annotation.StringRes; + +import com.zhjt.mogo.adas.data.R; + import mogo.telematics.pad.MessagePad; /** @@ -13,120 +19,120 @@ import mogo.telematics.pad.MessagePad; */ public enum MessageType { - TYPE_DEFAULT(MessagePad.MessageType.MsgTypeDefault, "默认"), - 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, "老底盘状态"), - 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, "融合感知红绿灯"), - 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_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"), - TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"), - TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "后摄像头"), - TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"), - TYPE_RECEIVE_SSM(MessagePad.MessageType.MsgTypeSSMState, "SSM系统状态"), - TYPE_RECEIVE_FM_STATE(MessagePad.MessageType.MsgTypeFMState, "FM状态"), - TYPE_RECEIVE_FSM2024_STATE(MessagePad.MessageType.MsgTypeFSM2024State, "FSM状态"), - TYPE_RECEIVE_LOC_STATE(MessagePad.MessageType.MsgTypeLocState, "定位状态"), - TYPE_RECEIVE_CLOUD_REGULATORY_WARNING(MessagePad.MessageType.MsgTypeCloudRegulatoryWarning, "云控监管预警"), - TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY2025(MessagePad.MessageType.MsgTypePredictionObjects2025, "障碍物轨迹预测"), - TYPE_RECEIVE_VLLM(MessagePad.MessageType.MsgTypevllm, "视觉语言模型"), - TYPE_RECEIVE_VLLM_IMAGE(MessagePad.MessageType.MsgTypeVllmImage60, "视觉语言模型图像"), + TYPE_DEFAULT(MessagePad.MessageType.MsgTypeDefault, R.string.adas_data_MsgTypeDefault), + TYPE_RECEIVE_TRAJECTORY(MessagePad.MessageType.MsgTypeTrajectory, R.string.adas_data_MsgTypeTrajectory), + TYPE_RECEIVE_TRACKED_OBJECTS(MessagePad.MessageType.MsgTypeTrackedObjects, R.string.adas_data_MsgTypeTrackedObjects), + TYPE_RECEIVE_GNSS_INFO(MessagePad.MessageType.MsgTypeGnssInfo, R.string.adas_data_MsgTypeGnssInfo), + TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, R.string.adas_data_MsgTypeVehicleState), + TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, R.string.adas_data_MsgTypeAutopilotState), + TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, R.string.adas_data_MsgTypeReportMessage), + TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, R.string.adas_data_MsgTypePerceptionTrafficLight), + TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, R.string.adas_data_MsgTypePredictionObstacleTrajectory), + TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, R.string.adas_data_MsgTypePointCloud), + TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, R.string.adas_data_MsgTypePlanningObjects), + TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, R.string.adas_data_MsgTypeChassisStates), + TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, R.string.adas_data_MsgTypeFunctionStates), + TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, R.string.adas_data_MsgTypeBackCameraVideo), + TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, R.string.adas_data_MsgTypeM1StitchedVideo), + TYPE_RECEIVE_SSM(MessagePad.MessageType.MsgTypeSSMState, R.string.adas_data_MsgTypeSSMState), + TYPE_RECEIVE_FM_STATE(MessagePad.MessageType.MsgTypeFMState, R.string.adas_data_MsgTypeFMState), + TYPE_RECEIVE_FSM2024_STATE(MessagePad.MessageType.MsgTypeFSM2024State, R.string.adas_data_MsgTypeFSM2024State), + TYPE_RECEIVE_LOC_STATE(MessagePad.MessageType.MsgTypeLocState, R.string.adas_data_MsgTypeLocState), + TYPE_RECEIVE_CLOUD_REGULATORY_WARNING(MessagePad.MessageType.MsgTypeCloudRegulatoryWarning, R.string.adas_data_MsgTypeCloudRegulatoryWarning), + TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY2025(MessagePad.MessageType.MsgTypePredictionObjects2025, R.string.adas_data_MsgTypePredictionObjects2025), + TYPE_RECEIVE_VLLM(MessagePad.MessageType.MsgTypevllm, R.string.adas_data_MsgTypevllm), + TYPE_RECEIVE_VLLM_IMAGE(MessagePad.MessageType.MsgTypeVllmImage60, R.string.adas_data_MsgTypeVllmImage60), - 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"), - TYPE_SEND_SET_AUTOPILOT_MODE_REQ(MessagePad.MessageType.MsgTypeSetAutopilotModeReq, "设置自动驾驶模式 启动自动驾驶", 5000), - TYPE_SEND_SET_DEMO_MODE_REQ(MessagePad.MessageType.MsgTypeSetDemoModeReq, "设置演示模式", 5000), - TYPE_SEND_CAR_CONFIG_REQ(MessagePad.MessageType.MsgTypeCarConfigReq, "车机基础信息请求"), - TYPE_RECEIVE_CAR_CONFIG_RESP(MessagePad.MessageType.MsgTypeCarConfigResp, "车机基础信息应答"), - TYPE_SEND_RECORD_CAUSE(MessagePad.MessageType.MsgTypeRecordCause, "记录人工接管原因"), - TYPE_SEND_RECORD_DATA(MessagePad.MessageType.MsgTypeRecordData, "数据采集请求"), - TYPE_RECEIVE_RECORD_RESULT(MessagePad.MessageType.MsgTypeRecordResult, "数据采集结果"), - TYPE_SEND_SET_AUTOPILOT_SPEED_REQ(MessagePad.MessageType.MsgTypeSetAutopilotSpeedReq, "设置自动驾驶最大速度", 5000), - TYPE_SEND_GLOBAL_PATH_REQ(MessagePad.MessageType.MsgTypeGlobalPathReq, "自动驾驶路径请求"), - TYPE_RECEIVE_GLOBAL_PATH_RESP(MessagePad.MessageType.MsgTypeGlobalPathResp, "自动驾驶路径应答"), + TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, R.string.adas_data_MsgTypeBasicInfoReq), + TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, R.string.adas_data_MsgTypeBasicInfoResp), + TYPE_SEND_SET_AUTOPILOT_MODE_REQ(MessagePad.MessageType.MsgTypeSetAutopilotModeReq, R.string.adas_data_MsgTypeSetAutopilotModeReq, 5000), + TYPE_SEND_SET_DEMO_MODE_REQ(MessagePad.MessageType.MsgTypeSetDemoModeReq, R.string.adas_data_MsgTypeSetDemoModeReq, 5000), + TYPE_SEND_CAR_CONFIG_REQ(MessagePad.MessageType.MsgTypeCarConfigReq, R.string.adas_data_MsgTypeCarConfigReq), + TYPE_RECEIVE_CAR_CONFIG_RESP(MessagePad.MessageType.MsgTypeCarConfigResp, R.string.adas_data_MsgTypeCarConfigResp), + TYPE_SEND_RECORD_CAUSE(MessagePad.MessageType.MsgTypeRecordCause, R.string.adas_data_MsgTypeRecordCause), + TYPE_SEND_RECORD_DATA(MessagePad.MessageType.MsgTypeRecordData, R.string.adas_data_MsgTypeRecordData), + TYPE_RECEIVE_RECORD_RESULT(MessagePad.MessageType.MsgTypeRecordResult, R.string.adas_data_MsgTypeRecordResult), + TYPE_SEND_SET_AUTOPILOT_SPEED_REQ(MessagePad.MessageType.MsgTypeSetAutopilotSpeedReq, R.string.adas_data_MsgTypeSetAutopilotSpeedReq, 5000), + TYPE_SEND_GLOBAL_PATH_REQ(MessagePad.MessageType.MsgTypeGlobalPathReq, R.string.adas_data_MsgTypeGlobalPathReq), + TYPE_RECEIVE_GLOBAL_PATH_RESP(MessagePad.MessageType.MsgTypeGlobalPathResp, R.string.adas_data_MsgTypeGlobalPathResp), @Deprecated//MAP290开始此接口弃用 - TYPE_SEND_TRAFFIC_LIGHT_DATA(MessagePad.MessageType.MsgTypeTrafficLightData, "发送红绿灯数据到工控机"), + TYPE_SEND_TRAFFIC_LIGHT_DATA(MessagePad.MessageType.MsgTypeTrafficLightData, R.string.adas_data_MsgTypeTrafficLightData), @Deprecated - 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", 5000), - TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, "轨迹下载请求", 5000), + TYPE_RECEIVE_WARN(MessagePad.MessageType.MsgTypeWarn, R.string.adas_data_MsgTypeWarn), + TYPE_RECEIVE_ARRIVAL_NOTIFICATION(MessagePad.MessageType.MsgTypeArrivalNotification, R.string.adas_data_MsgTypeArrivalNotification), + TYPE_SEND_SYSTEM_CMD_REQ(MessagePad.MessageType.MsgTypeSystemCmdReq, R.string.adas_data_MsgTypeSystemCmdReq, 5000), + TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, R.string.adas_data_MsgTypeTrajectoryDownloadReq, 5000), @Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用 - TYPE_SEND_STATUS_QUERY_REQ(MessagePad.MessageType.MsgTypeStatusQueryReq, "状态查询请求"), + TYPE_SEND_STATUS_QUERY_REQ(MessagePad.MessageType.MsgTypeStatusQueryReq, R.string.adas_data_MsgTypeStatusQueryReq), @Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用 - TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答"), - TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式", 5000), - 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_OPERATOR_CMD_REQ(MessagePad.MessageType.MsgTypeOperatorCmdReq, "操控指令", 5000), - TYPE_SEND_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, "数据订阅、取消订阅请求", 5000), - TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, "特种车辆命令", 5000), - TYPE_SEND_SET_PARAM_REQ(MessagePad.MessageType.MsgTypeSetParamReq, "设置参数命令", 5000), - TYPE_SEND_TRIP_INFO_REQ(MessagePad.MessageType.MsgTypeTripInfoEvent, "行程信息"), - TYPE_SEND_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理请求"), - TYPE_RECEIVE_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理应答"), - TYPE_SEND_PLANNING_CMD(MessagePad.MessageType.MsgTypePlanningCmd, "给Planning指令", 5000), - TYPE_SEND_SET_PARAM_REQ_V2(MessagePad.MessageType.MsgTypeSetParamReqV2, "设置参数命令V2", 5000), - TYPE_RECEIVE_V2N_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nCongestionEvent, "主车附近事件推送"), - TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS(MessagePad.MessageType.MsgTypeV2nGlobalPathEvents, "主车路径全局事件推送"), - TYPE_SEND_GET_PARAM_REQ(MessagePad.MessageType.MsgTypeGetParamReq, "参数获取请求"), - TYPE_RECEIVE_GET_PARAM_RESP(MessagePad.MessageType.MsgTypeGetParamResp, "参数获取应答"), - TYPE_SEND_SWEEPER_CLOUD_TASK_CMD(MessagePad.MessageType.MsgTypeTaskCmd, "发送清扫车指令到云控", 5000), - TYPE_RECEIVE_SWEEPER_CLOUD_TASK_CMD(MessagePad.MessageType.MsgTypeTaskCmd, "云控下发清扫车任务指令", 5000), - TYPE_SEND_FSM_STATUS_REASON_QUERY_REQ(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryReq, "FSM状态原因查询"), - TYPE_RECEIVE_FSM_STATUS_REASON_QUERY_RESP(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryResp, "FSM状态原因查询应答"), - TYPE_SEND_GET_DEBUG_INFO_REQ(MessagePad.MessageType.MsgTypeGetDebugInfo, "Debug信息请求"), - TYPE_RECEIVE_GET_DEBUG_INFO_RESP(MessagePad.MessageType.MsgTypeGetDebugInfo, "Debug信息应答"), - TYPE_SEND_PARALLEL_DRIVING_REQ(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶请求", 5000), - TYPE_RECEIVE_PARALLEL_DRIVING_STATUS(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶状态", 5000), - TYPE_SEND_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "发送消息回执"), - TYPE_RECEIVE_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "接收消息回执"), - TYPE_RECEIVE_V2N_NIO_GREEN_WAVE_PASSAGE_EVENT(MessagePad.MessageType.MsgTypeV2nNioGreenWavePassageEvent, "V2N NIO绿波通行（单路口）"), - TYPE_RECEIVE_V2N_NIO_CROSSOVER_EVENT(MessagePad.MessageType.MsgTypeV2nNioCrossoverEvent, "V2N NIO行人横穿（路侧）"), - TYPE_RECEIVE_V2N_NIO_OTHER_RETROGRADE_EVENT(MessagePad.MessageType.MsgTypeV2nNioOtherRetrogradeEvent, "V2N NIO他车逆行（路侧）"), - TYPE_RECEIVE_V2N_NIO_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nNioCongestionEvent, "V2N NIO拥堵事件"), - TYPE_RECEIVE_LANE_MARKS_TRAN(MessagePad.MessageType.MsgTypeLaneMarksTran, "车道线"), - TYPE_SEND_COLLISION_REPORT(MessagePad.MessageType.MsgTypeCollisionReport, "碰撞上报"), - TYPE_SEND_POWER_UNIT(MessagePad.MessageType.MsgTypePowerUnit, "电源模块请求"), - TYPE_RECEIVE_POWER_UNIT(MessagePad.MessageType.MsgTypePowerUnit, "电源模块响应"), - TYPE_SEND_SSM_FUNC_MSG(MessagePad.MessageType.MsgTypeSSMFuncMsg, "SSM功能控制"), - TYPE_RECEIVE_SSM_FUNC_MSG(MessagePad.MessageType.MsgTypeSSMFuncMsg, "SSM功能响应"), - TYPE_SEND_SSM_FUNC_STATUS_QUERY(MessagePad.MessageType.MsgTypeSSMFuncStatusQuery, "SSM功能状态查询"), - TYPE_RECEIVE_SSM_FUNC_STATUS_QUERY(MessagePad.MessageType.MsgTypeSSMFuncStatusQuery, "SSM功能状态响应"), - TYPE_SEND_CAPTURE_IMG_REQ_ON_TAKE_OVER(MessagePad.MessageType.MsgTypeCaptureImgReqOnTakeOver, "接管时摄像头数据请求"), - TYPE_RECEIVE_CLOUD_CONTROL(MessagePad.MessageType.MsgTypeEzhouCloud, "云控数据"), - TYPE_SEND_COPY_BAG(MessagePad.MessageType.MsgTypeCopyBag, "数据落盘控制"), - TYPE_RECEIVE_COPY_BAG(MessagePad.MessageType.MsgTypeCopyBag, "数据落盘响应"), - TYPE_SEND_CLOUD_CONFIG(MessagePad.MessageType.MsgTypeCloudConfig, "云端配置查询"), - TYPE_RECEIVE_CLOUD_CONFIG(MessagePad.MessageType.MsgTypeCloudConfig, "云端配置响应"), - TYPE_SEND_IMG_UPLOAD_CLOUD_ENABLE(MessagePad.MessageType.MsgTypeImgUploadCloudEnable, "摄像头上传NDE云开关"), - TYPE_SEND_IMG_UPLOAD_CLOUD_STATUS_QUERY(MessagePad.MessageType.MsgTypeImgUploadCloudStatusQuery, "摄像头上传NDE云状态查询"), - TYPE_RECEIVE_IMG_UPLOAD_CLOUD_STATUS_QUERY(MessagePad.MessageType.MsgTypeImgUploadCloudStatusQuery, "摄像头上传NDE云状态响应"), - TYPE_SEND_FORCE_STOP_OR_START_CLOUD_REQ(MessagePad.MessageType.MsgTypeForceStopOrStartCloudReq, "云端配置控制"), - TYPE_SEND_SET_OBU_UPLOAD_REQ(MessagePad.MessageType.MsgTypeSetObuUploadReq, "域控上报OBU开关控制"), - TYPE_SEND_OBU_UPLOAD_STATUS(MessagePad.MessageType.MsgTypeObuUploadStatus, "域控上报OBU开关状态查询"), - TYPE_RECEIVE_OBU_UPLOAD_STATUS(MessagePad.MessageType.MsgTypeObuUploadStatus, "域控上报OBU开关状态响应"), + TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, R.string.adas_data_MsgTypeStatusQueryResp), + TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, R.string.adas_data_MsgTypeSetRainModeReq, 5000), + TYPE_SEND_RECORD_DATA_CONFIG_REQ(MessagePad.MessageType.MsgTypeRecordDataConfigReq, R.string.adas_data_MsgTypeRecordDataConfigReq), + TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP(MessagePad.MessageType.MsgTypeRecordDataConfigResp, R.string.adas_data_MsgTypeRecordDataConfigResp), + TYPE_SEND_OPERATOR_CMD_REQ(MessagePad.MessageType.MsgTypeOperatorCmdReq, R.string.adas_data_MsgTypeOperatorCmdReq, 5000), + TYPE_SEND_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, R.string.adas_data_MsgTypeSubscribeDataReq, 5000), + TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, R.string.adas_data_MsgTypeSpecialVehicleTaskCmd, 5000), + TYPE_SEND_SET_PARAM_REQ(MessagePad.MessageType.MsgTypeSetParamReq, R.string.adas_data_MsgTypeSetParamReq, 5000), + TYPE_SEND_TRIP_INFO_REQ(MessagePad.MessageType.MsgTypeTripInfoEvent, R.string.adas_data_MsgTypeTripInfoEvent), + TYPE_SEND_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, R.string.adas_data_MsgTypeBagManagerCmd_SEND), + TYPE_RECEIVE_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, R.string.adas_data_MsgTypeBagManagerCmd_RECEIVE), + TYPE_SEND_PLANNING_CMD(MessagePad.MessageType.MsgTypePlanningCmd, R.string.adas_data_MsgTypePlanningCmd, 5000), + TYPE_SEND_SET_PARAM_REQ_V2(MessagePad.MessageType.MsgTypeSetParamReqV2, R.string.adas_data_MsgTypeSetParamReqV2, 5000), + TYPE_RECEIVE_V2N_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nCongestionEvent, R.string.adas_data_MsgTypeV2nCongestionEvent), + TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS(MessagePad.MessageType.MsgTypeV2nGlobalPathEvents, R.string.adas_data_MsgTypeV2nGlobalPathEvents), + TYPE_SEND_GET_PARAM_REQ(MessagePad.MessageType.MsgTypeGetParamReq, R.string.adas_data_MsgTypeGetParamReq), + TYPE_RECEIVE_GET_PARAM_RESP(MessagePad.MessageType.MsgTypeGetParamResp, R.string.adas_data_MsgTypeGetParamResp), + TYPE_SEND_SWEEPER_CLOUD_TASK_CMD(MessagePad.MessageType.MsgTypeTaskCmd, R.string.adas_data_MsgTypeTaskCmd_SEND, 5000), + TYPE_RECEIVE_SWEEPER_CLOUD_TASK_CMD(MessagePad.MessageType.MsgTypeTaskCmd, R.string.adas_data_MsgTypeTaskCmd_RECEIVE, 5000), + TYPE_SEND_FSM_STATUS_REASON_QUERY_REQ(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryReq, R.string.adas_data_MsgTypeFSMStatusReasonQueryReq), + TYPE_RECEIVE_FSM_STATUS_REASON_QUERY_RESP(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryResp, R.string.adas_data_MsgTypeFSMStatusReasonQueryResp), + TYPE_SEND_GET_DEBUG_INFO_REQ(MessagePad.MessageType.MsgTypeGetDebugInfo, R.string.adas_dataMsgTypeGetDebugInfo_SEND), + TYPE_RECEIVE_GET_DEBUG_INFO_RESP(MessagePad.MessageType.MsgTypeGetDebugInfo, R.string.adas_data_MsgTypeGetDebugInfo_RECEIVE), + TYPE_SEND_PARALLEL_DRIVING_REQ(MessagePad.MessageType.MsgTypeParallelDrivingCmd, R.string.adas_data_MsgTypeParallelDrivingCmd_SEND, 5000), + TYPE_RECEIVE_PARALLEL_DRIVING_STATUS(MessagePad.MessageType.MsgTypeParallelDrivingCmd, R.string.adas_data_MsgTypeParallelDrivingCmd_RECEIVE, 5000), + TYPE_SEND_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, R.string.adas_data_MsgTypeReceivedAck_SEND), + TYPE_RECEIVE_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, R.string.adas_data_MsgTypeReceivedAck_RECEVIE), + TYPE_RECEIVE_V2N_NIO_GREEN_WAVE_PASSAGE_EVENT(MessagePad.MessageType.MsgTypeV2nNioGreenWavePassageEvent, R.string.adas_data_MsgTypeV2nNioGreenWavePassageEvent), + TYPE_RECEIVE_V2N_NIO_CROSSOVER_EVENT(MessagePad.MessageType.MsgTypeV2nNioCrossoverEvent, R.string.adas_data_MsgTypeV2nNioCrossoverEvent), + TYPE_RECEIVE_V2N_NIO_OTHER_RETROGRADE_EVENT(MessagePad.MessageType.MsgTypeV2nNioOtherRetrogradeEvent, R.string.adas_data_MsgTypeV2nNioOtherRetrogradeEvent), + TYPE_RECEIVE_V2N_NIO_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nNioCongestionEvent, R.string.adas_data_MsgTypeV2nNioCongestionEvent), + TYPE_RECEIVE_LANE_MARKS_TRAN(MessagePad.MessageType.MsgTypeLaneMarksTran, R.string.adas_data_MsgTypeLaneMarksTran), + TYPE_SEND_COLLISION_REPORT(MessagePad.MessageType.MsgTypeCollisionReport, R.string.adas_data_MsgTypeCollisionReport), + TYPE_SEND_POWER_UNIT(MessagePad.MessageType.MsgTypePowerUnit, R.string.adas_data_MsgTypePowerUnit_SEND), + TYPE_RECEIVE_POWER_UNIT(MessagePad.MessageType.MsgTypePowerUnit, R.string.adas_data_MsgTypePowerUnit_RECEIVE), + TYPE_SEND_SSM_FUNC_MSG(MessagePad.MessageType.MsgTypeSSMFuncMsg, R.string.adas_data_MsgTypeSSMFuncMsg_SEND), + TYPE_RECEIVE_SSM_FUNC_MSG(MessagePad.MessageType.MsgTypeSSMFuncMsg, R.string.adas_data_MsgTypeSSMFuncMsg_RECEIVE), + TYPE_SEND_SSM_FUNC_STATUS_QUERY(MessagePad.MessageType.MsgTypeSSMFuncStatusQuery, R.string.adas_data_MsgTypeSSMFuncStatusQuery_SEND), + TYPE_RECEIVE_SSM_FUNC_STATUS_QUERY(MessagePad.MessageType.MsgTypeSSMFuncStatusQuery, R.string.adas_data_MsgTypeSSMFuncStatusQuery_RECEIVE), + TYPE_SEND_CAPTURE_IMG_REQ_ON_TAKE_OVER(MessagePad.MessageType.MsgTypeCaptureImgReqOnTakeOver, R.string.adas_data_MsgTypeCaptureImgReqOnTakeOver), + TYPE_RECEIVE_CLOUD_CONTROL(MessagePad.MessageType.MsgTypeEzhouCloud, R.string.adas_data_MsgTypeEzhouCloud), + TYPE_SEND_COPY_BAG(MessagePad.MessageType.MsgTypeCopyBag, R.string.adas_data_MsgTypeCopyBag_SEND), + TYPE_RECEIVE_COPY_BAG(MessagePad.MessageType.MsgTypeCopyBag, R.string.adas_data_MsgTypeCopyBag_RECEIVE), + TYPE_SEND_CLOUD_CONFIG(MessagePad.MessageType.MsgTypeCloudConfig, R.string.adas_data_MsgTypeCloudConfig_SEND), + TYPE_RECEIVE_CLOUD_CONFIG(MessagePad.MessageType.MsgTypeCloudConfig, R.string.adas_data_MsgTypeCloudConfig_RECEIVE), + TYPE_SEND_IMG_UPLOAD_CLOUD_ENABLE(MessagePad.MessageType.MsgTypeImgUploadCloudEnable, R.string.adas_data_MsgTypeImgUploadCloudEnable), + TYPE_SEND_IMG_UPLOAD_CLOUD_STATUS_QUERY(MessagePad.MessageType.MsgTypeImgUploadCloudStatusQuery, R.string.adas_data_MsgTypeImgUploadCloudStatusQuery_SEND), + TYPE_RECEIVE_IMG_UPLOAD_CLOUD_STATUS_QUERY(MessagePad.MessageType.MsgTypeImgUploadCloudStatusQuery, R.string.adas_data_MsgTypeImgUploadCloudStatusQuery_RECEIVE), + TYPE_SEND_FORCE_STOP_OR_START_CLOUD_REQ(MessagePad.MessageType.MsgTypeForceStopOrStartCloudReq, R.string.adas_data_MsgTypeForceStopOrStartCloudReq), + TYPE_SEND_SET_OBU_UPLOAD_REQ(MessagePad.MessageType.MsgTypeSetObuUploadReq, R.string.adas_data_MsgTypeSetObuUploadReq), + TYPE_SEND_OBU_UPLOAD_STATUS(MessagePad.MessageType.MsgTypeObuUploadStatus, R.string.adas_data_MsgTypeObuUploadStatus_SEND), + TYPE_RECEIVE_OBU_UPLOAD_STATUS(MessagePad.MessageType.MsgTypeObuUploadStatus, R.string.adas_data_MsgTypeObuUploadStatus_RECEIVE), //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"), + TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, R.string.adas_data_MsgTypePlanningDecisionState), + TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, R.string.adas_data_MsgTypeSweeperTaskIndexData), + TYPE_RECEIVE_OBU_WARNING_DATA(MessagePad.MessageType.MsgTypeObuWarningData, R.string.adas_data_MsgTypeObuWarningData), //以下6个与标定相关 - TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA30(MessagePad.MessageType.MsgTypeCameraCalibCheckData30, "相机标定检查视频30"), - TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA60(MessagePad.MessageType.MsgTypeCameraCalibCheckData60, "相机标定检查视频60"), - TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA120_FRONT(MessagePad.MessageType.MsgTypeCameraCalibCheckData120Front, "相机标定检查视频120前"), - TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA120_BACK(MessagePad.MessageType.MsgTypeCameraCalibCheckData120Back, "相机标定检查视频120后"), - TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA120_LEFT(MessagePad.MessageType.MsgTypeCameraCalibCheckData120Left, "相机标定检查视频120左"), - TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA120_RIGHT(MessagePad.MessageType.MsgTypeCameraCalibCheckData120Right, "相机标定检查视频120右"), + TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA30(MessagePad.MessageType.MsgTypeCameraCalibCheckData30, R.string.adas_data_MsgTypeCameraCalibCheckData30), + TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA60(MessagePad.MessageType.MsgTypeCameraCalibCheckData60, R.string.adas_data_MsgTypeCameraCalibCheckData60), + TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA120_FRONT(MessagePad.MessageType.MsgTypeCameraCalibCheckData120Front, R.string.adas_data_MsgTypeCameraCalibCheckData120Front), + TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA120_BACK(MessagePad.MessageType.MsgTypeCameraCalibCheckData120Back, R.string.adas_data_MsgTypeCameraCalibCheckData120Back), + TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA120_LEFT(MessagePad.MessageType.MsgTypeCameraCalibCheckData120Left, R.string.adas_data_MsgTypeCameraCalibCheckData120Left), + TYPE_RECEIVE_CAMERA_CALIB_CHECK_DATA120_RIGHT(MessagePad.MessageType.MsgTypeCameraCalibCheckData120Right, R.string.adas_data_MsgTypeCameraCalibCheckData120Right), - TYPE_RECEIVE_CAPTURE_FRONT_IMG_ON_TAKE_OVER(MessagePad.MessageType.MsgTypeCaptureFrontImgOnTakeOver, "人工接管时给PAD发前摄像头数据响应"), - TYPE_RECEIVE_CAPTURE_BACK_IMG_ON_TAKE_OVER(MessagePad.MessageType.MsgTypeCaptureBackImgOnTakeOver, "人工接管时给PAD发后摄像头数据响应"), + TYPE_RECEIVE_CAPTURE_FRONT_IMG_ON_TAKE_OVER(MessagePad.MessageType.MsgTypeCaptureFrontImgOnTakeOver, R.string.adas_data_MsgTypeCaptureFrontImgOnTakeOver), + TYPE_RECEIVE_CAPTURE_BACK_IMG_ON_TAKE_OVER(MessagePad.MessageType.MsgTypeCaptureBackImgOnTakeOver, R.string.adas_data_MsgTypeCaptureBackImgOnTakeOver), ; @@ -138,22 +144,31 @@ public enum MessageType { /** * 描述 */ - public final String desc; + @StringRes + private final int descResId; /** * 消息回执超时时间 毫秒 0：表示不需要回执 */ public final long timeoutMillis; - MessageType(MessagePad.MessageType typeCode, String desc) { - this(typeCode, desc, 0L); + MessageType(MessagePad.MessageType typeCode, @StringRes int descResId) { + this(typeCode, descResId, 0L); } - MessageType(MessagePad.MessageType typeCode, String desc, long timeoutMillis) { + MessageType(MessagePad.MessageType typeCode, @StringRes int descResId, long timeoutMillis) { this.typeCode = typeCode; - this.desc = desc; + this.descResId = descResId; this.timeoutMillis = timeoutMillis; } + public String getDesc(Context context) { + if (context == null) return ""; + try { + return context.getString(descResId); + } catch (Exception e) { + return ""; + } + } } diff --git a/libraries/mogo-adas-data/src/main/res/values/strings.xml b/libraries/mogo-adas-data/src/main/res/values/strings.xml new file mode 100644 index 0000000000..4e5eb3028e --- /dev/null +++ b/libraries/mogo-adas-data/src/main/res/values/strings.xml @@ -0,0 +1,108 @@ + + 默认 + 车前引导线 + 障碍物信息 + 惯导信息 + 老底盘状态 + 自动驾驶状态 + 监控事件报告 + 融合感知红绿灯 + 他车轨迹预测 + 点云透传 + Planning障碍物 + 底盘状态 + 重构后功能状态 + 后摄像头 + M1拼接视频 + SSM系统状态 + FM状态 + FSM状态 + 定位状态 + 云控监管预警 + 障碍物轨迹预测 + 视觉语言模型 + 视觉语言模型图像 + 自动驾驶设备基础信息请求 + 自动驾驶设备基础信息应答 + 设置自动驾驶模式 启动自动驾驶 + 设置演示模式 + 车机基础信息请求 + 车机基础信息应答 + 记录人工接管原因 + 数据采集请求 + 数据采集结果 + 设置自动驾驶最大速度 + 自动驾驶路径请求 + 自动驾驶路径应答 + 发送红绿灯数据到工控机 + 预警数据 + 到站提醒 + 系统命令请求 + 轨迹下载请求 + 状态查询请求 + 状态查询应答 + 设置雨天模式 + 数据采集配置查询 + 数据采集配置 + 操控指令 + 数据订阅、取消订阅请求 + 特种车辆命令 + 设置参数命令 + 行程信息 + Bag管理请求 + Bag管理应答 + 给Planning指令 + 设置参数命令V2 + 主车附近事件推送 + 主车路径全局事件推送 + 参数获取请求 + 参数获取应答 + 发送清扫车指令到云控 + 云控下发清扫车任务指令 + FSM状态原因查询 + FSM状态原因查询应答 + Debug信息请求 + Debug信息应答 + 平行驾驶请求 + 平行驾驶状态 + 发送消息回执 + 接收消息回执 + V2N NIO绿波通行（单路口） + V2N NIO行人横穿（路侧） + V2N NIO他车逆行（路侧） + V2N NIO拥堵事件 + 车道线 + 碰撞上报 + 电源模块请求 + 电源模块响应 + SSM功能控制 + SSM功能响应 + SSM功能状态查询 + SSM功能状态响应 + 接管时摄像头数据请求 + 云控数据 + 数据落盘控制 + 数据落盘响应 + 云端配置查询 + 云端配置响应 + 摄像头上传NDE云开关 + 摄像头上传NDE云状态查询 + 摄像头上传NDE云状态响应 + 云端配置控制 + 域控上报OBU开关控制 + 域控上报OBU开关状态查询 + 域控上报OBU开关状态响应 + Planning决策状态 + 清扫车指标数据 + OBU预警事件 + 相机标定检查视频30 + 相机标定检查视频60 + 相机标定检查视频120前 + 相机标定检查视频120后 + 相机标定检查视频120左 + 相机标定检查视频120右 + 人工接管时给PAD发前摄像头数据响应 + 人工接管时给PAD发后摄像头数据响应 + + +