yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[add]添加新接口 工控机发送感知红绿灯

Browse Source
This commit is contained in:
xinfengkun
2022-03-30 15:13:35 +08:00
parent b0aa0d6556
commit b86df0a49f
12 changed files with 161 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
app_ipc_monitoring/build.gradle
View File

@@ -1,12 +1,11 @@
apply plugin: 'com.android.application'
android {
compileSdkVersion 29
buildToolsVersion "29.0.2"
compileSdkVersion 31
defaultConfig {
applicationId "com.zhidao.adas.client"
minSdkVersion 19
targetSdkVersion 22
minSdkVersion 21
targetSdkVersion 31
multiDexEnabled true
versionCode 1
versionName "1.0"

22
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java Normal file
View File

@@ -0,0 +1,22 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import mogo.telematics.pad.MessagePad;
import perception.TrafficLightOuterClass;
public class PerceptionTrafficLight extends Base {
public final TrafficLightOuterClass.TrafficLights bean;
public PerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights bean) {
super(bean.getSerializedSize(), header);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

10
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -21,6 +21,7 @@ import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
@@ -271,7 +272,14 @@ public class InfoFragment extends Fragment {
}
}
@Subscribe(threadMode = ThreadMode.MAIN, sticky = true)
public void onPerceptionTrafficLightEvent(PerceptionTrafficLight info) {
EventBus.getDefault().removeStickyEvent(info);
if (title.equals(MainActivity.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT)) {
data.add(info.toString());
adapter.notifyDataSetChanged();
}
}
@Override
public void onDestroyView() {
super.onDestroyView();

19
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -52,6 +52,7 @@ import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
@@ -86,6 +87,7 @@ import chassis.VehicleStateOuterClass;
import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import record_cache.RecordPanelOuterClass;
public class MainActivity extends BaseActivity implements OnAdasListener, OnAdasConnectStatusListener, BaseAdapter.OnItemClickListener<String> {
@@ -127,6 +129,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private InfoFragment badcseFragment;
private InfoFragment errorFragment;
private InfoFragment reportMessageFragment;
private InfoFragment perceptionTrafficLightFragment;
private VersionFragment versionFragment;
private FragmentManager manager;
private FragmentTransaction transaction;
@@ -144,6 +147,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
String RECEIVE_VEHICLE_STATE = "底盘信息";
String RECEIVE_AUTOPILOT_STATE = "自动驾驶状态";
String RECEIVE_REPORT_MESSAGE = "监控事件";
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯";
// String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
String RECEIVE_CAR_CONFIG_RESP = "信息与配置";
String RECEIVE_RECORD_RESULT = "数据采集结果";
@@ -332,6 +337,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(TITLE.RECEIVE_VEHICLE_STATE);
titleFragmentData.add(TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(TITLE.RECEIVE_REPORT_MESSAGE);
titleFragmentData.add(TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
titleFragmentData.add(TITLE.RECEIVE_CAR_CONFIG_RESP);
titleFragmentData.add(TITLE.RECEIVE_RECORD_RESULT);
titleFragmentData.add(TITLE.RECEIVE_GLOBAL_PATH_RESP);
@@ -481,6 +487,14 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
transaction.commit();
}
break;
case TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT:
if (perceptionTrafficLightFragment == null)
perceptionTrafficLightFragment = new InfoFragment(data);
if (!perceptionTrafficLightFragment.isVisible()) {
transaction.replace(R.id.fl_info, perceptionTrafficLightFragment);
transaction.commit();
}
break;
case TITLE.RECEIVE_CAR_CONFIG_RESP:
AdasManager.getInstance().sendCarConfigReq();
if (versionFragment == null)
@@ -618,6 +632,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
EventBus.getDefault().postSticky(new MogoReportMessage(header, mogoReportMessage));
}
@Override
public void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights) {
EventBus.getDefault().postSticky(new PerceptionTrafficLight(header, trafficLights));
}
@Override
public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);

8
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -47,6 +47,7 @@ import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo_msg.MogoReportMsg
import perception.TrafficLightOuterClass
import record_cache.RecordPanelOuterClass
import java.util.*
@@ -209,6 +210,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokeAutopilotGuardian(mogoReportMessage)
}
}
//感知红绿灯
override fun onPerceptionTrafficLight(
header: MessagePad.Header?,
trafficLights: TrafficLightOuterClass.TrafficLights?
) {
}
override fun onBasicInfoReq(
header: MessagePad.Header,

15
libraries/mogo-adas-data/README.md Normal file
View File

@@ -0,0 +1,15 @@
# 工控机PB文件 用于生成Java Bean
## 1. studio中*.proto文件中如果出现“Cannot resolve symbol 'xxxx'”提示
**不影响正常编译，只影响美观以及无法在proto文件中跳转**
~~~
1. setting> Languages & Frameworks>Protocol Buffers 取消选中Configure automatically
2. 点击加号选择proto文件所在路径（例如：\MoGoEagleEye\libraries\mogo-adas-data\src\main\proto） 点击OK
~~~
## 2. 遇到例如 MessagePad.Header 提示找不到的情况
**不影响正常编译，只影响美观以及无法点击跳转**
~~~
1. 选中mogo-adas-data
2. 点击Build> Make Moudle 'MoGoEagleEye.libraries.mogo-adas-data'
~~~

4
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -16,6 +16,7 @@ enum MessageType
MsgTypeVehicleState = 0x10003; //底盘信息, 透传底盘状态，pb参考底盘
MsgTypeAutopilotState = 0x10004; //自动驾驶状态
MsgTypeReportMessage = 0x10005; //监控事件报告
MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -120,6 +121,9 @@ message AutopilotState
// message definition for MessageType: MsgTypeReportMessage
// refer to mogo_report_msg.proto
// message definition for MessageType: MsgTypePerceptionTrafficLight
// refer to traffic_light.proto
// message definition for MessageType: MsgTypeBasicInfoReq
message BasicInfoReq
{

36
libraries/mogo-adas-data/src/main/proto/traffic_light.proto Normal file
View File

@@ -0,0 +1,36 @@
syntax = "proto2";
package perception;
import "header.proto";
enum LightType {
TYPE_DEFAULT = 0;
TYPE_VEHICLE = 1;
TYPE_BICYLE = 2;
TYPE_PEDSTRIAN = 3;
TYPE_LANE = 5;
}
enum LightState {
STATE_OFF = 0;
STATE_RED = 1;
STATE_YELLOW = 2;
STATE_GREEN = 3;
STATE_FLASH = 4;
}
message TrafficLight {
optional int64 id = 1;
optional LightType type = 2 [default = TYPE_DEFAULT];
optional LightState state = 3 [default = STATE_OFF];
optional float duration = 4; // seconds since the last state changed
}
message TrafficLights {
optional common.Header header = 1;
optional TrafficLight straight = 2;
optional TrafficLight left = 3;
optional TrafficLight right = 4;
optional TrafficLight u_turn = 5;
}

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -7,6 +7,7 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import record_cache.RecordPanelOuterClass;
/**
@@ -71,6 +72,14 @@ public interface OnAdasListener {
*/
void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage);
/**
* 感知红绿灯
*
* @param header 头
* @param trafficLights 感知红绿灯
*/
void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights);
/**
* 自动驾驶设备基础信息请求
*

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -18,6 +18,7 @@ public enum MessageType {
TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "底盘信息, 透传底盘状态，pb参考底盘"),
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_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"),

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

@@ -17,6 +17,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg vehicleStateMessage;//底盘信息, 透传底盘状态，pb参考底盘
private IMsg autopilotStateMessage;//自动驾驶状态
private IMsg reportMessage;//监控事件报告
private IMsg perceptionTrafficLightMessage;//感知红绿灯
private IMsg basicInfoReqMessage;//自动驾驶设备基础信息请求
private IMsg carConfigRespMessage;//车机基础信息应答
@@ -84,6 +85,12 @@ public class MyMessageFactory implements IMyMessageFactory {
reportMessage = new ReportMessage();
}
return reportMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.typeCode) {
//感知红绿灯
if (perceptionTrafficLightMessage == null) {
perceptionTrafficLightMessage = new PerceptionTrafficLightMessage();
}
return perceptionTrafficLightMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode) {
//自动驾驶设备基础信息请求
if (basicInfoReqMessage == null) {

28
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java Normal file
View File

@@ -0,0 +1,28 @@
package com.zhidao.support.adas.high.msg;
import com.google.gson.Gson;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import mogo.telematics.pad.MessagePad;
import perception.TrafficLightOuterClass;
/**
* 感知红绿灯
*/
public class PerceptionTrafficLightMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
}
@Override
public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException {
TrafficLightOuterClass.TrafficLights trafficLights = TrafficLightOuterClass.TrafficLights.parseFrom(msg);
if (adasListener != null) {
adasListener.onPerceptionTrafficLight(header, trafficLights);
}
}
}