From b86df0a49fe32cbbaf891db8d81a962cf0d38f2f Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 30 Mar 2022 15:13:35 +0800 Subject: [PATCH] =?UTF-8?q?[add]=E6=B7=BB=E5=8A=A0=E6=96=B0=E6=8E=A5?= =?UTF-8?q?=E5=8F=A3=20=E5=B7=A5=E6=8E=A7=E6=9C=BA=E5=8F=91=E9=80=81?= =?UTF-8?q?=E6=84=9F=E7=9F=A5=E7=BA=A2=E7=BB=BF=E7=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app_ipc_monitoring/build.gradle | 7 ++-- .../client/bean/PerceptionTrafficLight.java | 22 ++++++++++++ .../zhidao/adas/client/ui/InfoFragment.java | 10 +++++- .../zhidao/adas/client/ui/MainActivity.java | 19 ++++++++++ .../autopilot/adapter/MoGoAdasListenerImpl.kt | 8 +++++ libraries/mogo-adas-data/README.md | 15 ++++++++ .../src/main/proto/message_pad.proto | 4 +++ .../src/main/proto/traffic_light.proto | 36 +++++++++++++++++++ .../support/adas/high/OnAdasListener.java | 9 +++++ .../support/adas/high/common/MessageType.java | 1 + .../adas/high/msg/MyMessageFactory.java | 7 ++++ .../msg/PerceptionTrafficLightMessage.java | 28 +++++++++++++++ 12 files changed, 161 insertions(+), 5 deletions(-) create mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java create mode 100644 libraries/mogo-adas-data/README.md create mode 100644 libraries/mogo-adas-data/src/main/proto/traffic_light.proto create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java diff --git a/app_ipc_monitoring/build.gradle b/app_ipc_monitoring/build.gradle index e688cb6413..e9e83e92b6 100644 --- a/app_ipc_monitoring/build.gradle +++ b/app_ipc_monitoring/build.gradle @@ -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" diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java new file mode 100644 index 0000000000..5b50580c61 --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java @@ -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); + } + +} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java index 77e290075d..f2d4534cdf 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java @@ -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(); diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java index c84ef04749..f9fba66d23 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java @@ -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 { @@ -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); diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index 17c995a697..713e611e82 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -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, diff --git a/libraries/mogo-adas-data/README.md b/libraries/mogo-adas-data/README.md new file mode 100644 index 0000000000..dc6dc94f53 --- /dev/null +++ b/libraries/mogo-adas-data/README.md @@ -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' +~~~ \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 907fc0ead6..99f2f73bea 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -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 { diff --git a/libraries/mogo-adas-data/src/main/proto/traffic_light.proto b/libraries/mogo-adas-data/src/main/proto/traffic_light.proto new file mode 100644 index 0000000000..fcfbf3722e --- /dev/null +++ b/libraries/mogo-adas-data/src/main/proto/traffic_light.proto @@ -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; +} \ No newline at end of file diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index fead1f3e66..c4ca9126b8 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -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 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java index a12f554de7..10e10a75a3 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java @@ -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"), diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index 4ea47e0ee5..b644e64bae 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -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) { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java new file mode 100644 index 0000000000..c3c6a37828 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java @@ -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); + } + } + + +}