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[add]添加新接口 工控机发送感知红绿灯

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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
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9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -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
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@@ -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
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@@ -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
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@@ -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);
}
}
}