[change]pb添加planning障碍物接口和发送轨迹下载请求接口，以及启动自动驾驶接口添加新字段；添加发送轨迹下载请求接口解析和发送功能。

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

@@ -537,7 +537,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
 
 
-        titleBtnData.add("启动自动驾驶");
+        titleBtnData.add("自动驾驶模式");
         titleBtnData.add("自动驾驶路径查询");
         titleBtnData.add("下发SN");
         titleBtnData.add("数据采集5秒");
@@ -1104,6 +1104,15 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         }
         switch (position) {
             case 0:
+//                MessagePad.Line.Builder line = MessagePad.Line.newBuilder();
+//                line.setLineId(10);
+//                line.setTrajUrl("我是TrajUrl");
+//                line.setTrajMd5("我是TrajMd5");
+//                line.setStopUrl("我是StopUrl");
+//                line.setStopMd5("我是StopMd5");
+//                line.setTimestamp(60);
+//                line.setVehicleModel("我是VehicleModel");
+//                AdasManager.getInstance().sendTrajectoryDownloadReq(line.build());
                 if (autoPilotModeDialog == null) {
                     autoPilotModeDialog = new AutoPilotModeDialog(this);
                 }

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -19,6 +19,7 @@ enum MessageType
     MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
     MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
     MsgTypePointCloud = 0x10008; //点云透传
+    MsgTypePlanningObjects = 0x10009; //planning障碍物
 
     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
@@ -36,6 +37,7 @@ enum MessageType
     MsgTypeWarn = 0x1010d; //预警数据
     MsgTypeArrivalNotification = 0x1010e; //到站提醒
     MsgTypeSystemCmdReq = 0x1010f; //系统命令请求, 比如系统重启，启用新镜像
+    MsgTypeTrajectoryDownloadReq = 0x10110; //轨迹下载请求
 }
 
 message Header
@@ -83,7 +85,7 @@ message TrackedObject
     double heading = 10; //车辆朝向
     double speed = 11; //车辆速度
     uint32 drawLevel = 12; //危险等级 1 绿,2 黄,3 红
-    double driverTime = 13; //驱动感知时间
+    double driverTime = 13; //驱动感知时间, abandoned
 }
 
 message TrackedObjects
@@ -112,13 +114,13 @@ message GnssInfo
 // message definition for MessageType: MsgTypeAutopilotState
 message AutopilotState
 {
-    uint32 state = 1; //0: 不可用, 1:ready, 2:自动驾驶中
+    uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中
     uint32 camera = 2; //camera节点状态 1:开启，0:关闭
     uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
     uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
     uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
     double speed = 6; //惯导车速 m/s
-    string reason = 7; //不可用原因
+    string reason = 7; //不可用原因(abandoned)
 }
 
 // message definition for MessageType: MsgTypeReportMessage
@@ -131,7 +133,36 @@ message AutopilotState
 // refer to prediction.proto
 
 // message definition for MessageType: MsgTypePointCloud
-// refer to point_cloud.proto
+// refer to mogo_point_cloud.proto
+
+// message definition for MessageType: MsgTypePlanningObjects
+message PlanningObject
+{
+    uint32 uuid = 1; 
+    uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事
+}
+
+message PlanningObjects
+{
+    repeated PlanningObject objs = 1; 
+}
+
+// message definition for MsgTypeTrajectoryDownloadReq
+message Line
+{
+    uint64 lineId = 1; //路线id，默认-1
+    string trajUrl = 2; //轨迹文件下载的cos url，默认“”
+    string trajMd5 = 3; //轨迹文件md5，默认“”
+    string stopUrl = 4; //打点文件下载的cos url，默认“”
+    string stopMd5 = 5; //轨迹文件md5，默认“”
+    uint64 timestamp = 6; //上传轨迹完成时间戳(ms)：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
+    string vehicleModel = 7; //车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
+}
+
+message TrajectoryDownloadReq
+{
+    Line line = 1; //路线
+}
 
 // message definition for MessageType: MsgTypeBasicInfoReq
 message BasicInfoReq 
@@ -162,9 +193,10 @@ message RouteInfo{
     repeated Location wayPoints = 5;
     double speedLimit = 6; //单位: km/h
     uint32 vehicleType = 7;
-    bool isSpeakVoice = 8;
+    bool isSpeakVoice = 8; //abandoned
     uint32 routeID = 9;
     string routeName = 10;
+    Line line = 11; //路线信息
 }
 
 message SetAutopilotModeReq
@@ -280,7 +312,7 @@ message Warn
 // message definition for MsgTypeArrivalNotification
 message ArrivalNotification
 {
-    uint32 carType = 1; //deserted
+    uint32 carType = 1; //abandoned
     Location endLocation = 2;
 }
 
@@ -292,7 +324,7 @@ enum SystemCmdType {
 
 message SystemCmdReq
 {
-    SystemCmdType cmdType = 1;
+    SystemCmdType cmdType = 1; //
 }
 
 
@@ -301,3 +333,6 @@ message SystemCmdReq
 
 
 
+
+
+

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -16,7 +16,6 @@ import android.text.TextUtils;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.ByteUtil;
@@ -40,8 +39,6 @@ import com.zhidao.support.adas.high.thread.DispatchHandler;
 import com.zhjt.service.chain.ChainLog;
 import com.zhjt.service.chain.TracingConstants;
 
-import org.json.JSONObject;
-
 import java.util.HashSet;
 import java.util.Timer;
 import java.util.TimerTask;
@@ -851,5 +848,19 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         MessagePad.SystemCmdReq req = builder.build();
         return sendWsMessage(MessageType.TYPE_SEND_SYSTEM_CMD_REQ.typeCode, req.toByteArray());
     }
+
+    /**
+     * 发送 轨迹下载请求
+     *
+     * @param line 线路相关参数详情见PB message_pad.proto -> Line
+     * @return boolean
+     */
+    @Override
+    public boolean sendTrajectoryDownloadReq(MessagePad.Line line) {
+        MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder();
+        builder.setLine(line);
+        MessagePad.TrajectoryDownloadReq req = builder.build();
+        return sendWsMessage(MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ.typeCode, req.toByteArray());
+    }
 }
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java

@@ -395,6 +395,17 @@ public class AdasManager implements IAdasNetCommApi {
         return mChannel != null && mChannel.sendSystemCmdReq(type);
     }
 
+    /**
+     * 发送 轨迹下载请求
+     *
+     * @param line 线路相关参数详情见PB message_pad.proto -> Line
+     * @return boolean
+     */
+    @Override
+    public boolean sendTrajectoryDownloadReq(MessagePad.Line line) {
+        return mChannel != null && mChannel.sendTrajectoryDownloadReq(line);
+    }
+
     /**
      * 获取工控机固定IP列表
      *

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java

@@ -180,6 +180,14 @@ public interface IAdasNetCommApi {
      */
     boolean sendSystemCmdReq(@NonNull MessagePad.SystemCmdType type);
 
+    /**
+     * 发送 轨迹下载请求
+     *
+     * @param line 线路相关参数详情见PB message_pad.proto -> Line
+     * @return boolean
+     */
+    boolean sendTrajectoryDownloadReq(MessagePad.Line line);
+
     // TODO 需求暂停 待讨论
 //    boolean getRoutes();
 

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

@@ -38,7 +38,8 @@ public enum MessageType {
     @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, 比如系统重启，启用新镜像");
+    TYPE_SEND_SYSTEM_CMD_REQ(MessagePad.MessageType.MsgTypeSystemCmdReq, "系统命令请求, 比如系统重启，启用新镜像"),
+    TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, "轨迹下载请求");
 
     /**
      * 消息action code