[add]添加新接口 工控机发送感知红绿灯

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'
+~~~

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 
 {

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;
+}

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
      *

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"),

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) {

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);
+        }
+    }
+
+
+}