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[add]增加感知透传障碍物接口，获取基础配置信息修改为延时获取

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This commit is contained in:
xinfengkun
2022-04-28 19:22:57 +08:00
parent a501bf2479
commit e0c042f518
13 changed files with 283 additions and 8 deletions
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15
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -9,6 +9,7 @@ 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.PerceptionObstacles;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
@@ -101,6 +102,7 @@ public class DataDistribution {
public final List<String> listMogoReportMessage = new ArrayList<>();
public final List<String> listPerceptionTrafficLight = new ArrayList<>();
public final List<String> listPredictionObstacleTrajectory = new ArrayList<>();
public final List<String> listPerceptionObstacles = new ArrayList<>();
public final List<String> listBasicInfoReq = new ArrayList<>();
public final List<String> listRecordPanel = new ArrayList<>();
public final List<String> listGlobalPathResp = new ArrayList<>();
@@ -222,6 +224,19 @@ public class DataDistribution {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof PerceptionObstacles) {
listPerceptionObstacles.add(0, time + str);
if (listPerceptionObstacles.size() > LIST_SIZE) {
listPerceptionObstacles.remove(listPerceptionObstacles.size() - 1);
}
if (listener != null) {
listener.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof BasicInfoReq) {
listBasicInfoReq.add(0, time + str);

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionObstacles.java Normal file
View File

@@ -0,0 +1,23 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import mogo.telematics.pad.MessagePad;
import perception.ObjectOuterClass;
import prediction.Prediction;
public class PerceptionObstacles extends BaseInfo {
public final ObjectOuterClass.TrackedObjects bean;
public PerceptionObstacles(MessagePad.Header header, ObjectOuterClass.TrackedObjects bean) {
super("接收", bean.getSerializedSize(), header);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -149,6 +149,9 @@ public class InfoFragment extends BaseFragment {
case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory);
break;
case Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES:
adapter.setData(DataDistribution.getInstance().listPerceptionObstacles);
break;
case Constants.TITLE.RECEIVE_ERROR:
adapter.setData(DataDistribution.getInstance().listErrorData);
break;

37
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -56,6 +56,7 @@ import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.MySSHResult;
import com.zhidao.adas.client.bean.PerceptionObstacles;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
@@ -91,6 +92,7 @@ import chassis.VehicleStateOuterClass;
import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.ObjectOuterClass;
import perception.TrafficLightOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
@@ -143,6 +145,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private InfoFragment reportMessageFragment;
private InfoFragment perceptionTrafficLightFragment;
private InfoFragment predictionObstacleTrajectoryFragment;
private InfoFragment perceptionObstaclesFragment;
private VersionFragment versionFragment;
private FragmentManager manager;
private FragmentTransaction transaction;
@@ -449,6 +452,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_GNSS_INFO);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRACKED_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES);
titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
@@ -494,6 +498,22 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
btnAdapter.setOnItemClickListener(this);
}
/**
* 感知接口 提示
*
* @param isSeriaNet 是否是透传接口
*/
private void hintTrackedObjects(boolean isSeriaNet) {
int value = 0;
MessagePad.CarConfigResp carConfigResp = AdasManager.getInstance().getCarConfig();
if (carConfigResp != null) {
value = carConfigResp.getProtocolVersionValue();
}
if (isSeriaNet && value < 3 && value > 0 || value > 2) {
showToastCenter("当前工控机协议版本：" + value + "，此接口不受支持");
}
}
private void initFragmentRecyclerView() {
//创建默认的线性LayoutManager 横向的GridLayoutManager
LinearLayoutManager linearLayoutManager = new LinearLayoutManager(this);
@@ -528,6 +548,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
break;
case Constants.TITLE.RECEIVE_TRACKED_OBJECTS:
hintTrackedObjects(false);
if (viewFragment == null)
viewFragment = new InfoFragment(data);
if (!viewFragment.isVisible()) {
@@ -616,6 +637,15 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES:
hintTrackedObjects(true);
if (perceptionObstaclesFragment == null)
perceptionObstaclesFragment = new InfoFragment(data);
if (!perceptionObstaclesFragment.isVisible()) {
transaction.replace(R.id.fl_info, perceptionObstaclesFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_CAR_CONFIG_RESP:
AdasManager.getInstance().sendCarConfigReq();
if (versionFragment == null)
@@ -709,7 +739,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onError(ProtocolStatus status, byte[] bytes) {
ErrorData base = new ErrorData(status, bytes);
@@ -764,6 +793,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onTrackedObjects(MessagePad.Header header, ObjectOuterClass.TrackedObjects trackedObjects) {
PerceptionObstacles base = new PerceptionObstacles(header, trackedObjects);
DataDistribution.getInstance().addData(base);
}
@Override
public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);

1
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -151,6 +151,7 @@ public class Constants {
String RECEIVE_REPORT_MESSAGE = "监控事件";
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯";
String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = "他车轨迹预测";
String RECEIVE_PERCEPTION_OBSTACLES = "透传的融合障碍物";
// 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";

16
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -45,6 +45,7 @@ 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.ObjectOuterClass
import perception.TrafficLightOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
@@ -97,6 +98,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
/**
* 透传的融合障碍物 他车数据
* 当 MessagePad.CarConfigResp.getProtocolVersionValue() >=3 时此回调有数据，老接口“MessagePad.TrackedObjects”不会回调任何数据
*
* @param header 头
* @param trackedObjects 数据
*/
override fun onTrackedObjects(
header: MessagePad.Header?,
trackedObjects: ObjectOuterClass.TrackedObjects?
) {
}
//自车定位信息
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
@@ -175,7 +189,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
if (autopilotStatusInfo.connectIP == null) {
autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp
}
if(autopilotStatusInfo.connectPort == null){
if (autopilotStatusInfo.connectPort == null) {
autopilotStatusInfo.connectPort = AdasManager.getInstance().ipcConnectedPort
}
if (autopilotStatusInfo.dockVersion == null) {

6
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -3,7 +3,7 @@ package mogo.telematics.pad;
enum ProtocolVersion{
Defaultver = 0;
CurrentVersion = 2; //每次修改proto文件增加1
CurrentVersion = 3; //每次修改proto文件增加1
}
enum MessageType
@@ -18,6 +18,7 @@ enum MessageType
MsgTypeReportMessage = 0x10005; //监控事件报告
MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
MsgTypePerceptionObstacles = 0x10008; //透传的融合障碍物
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
@@ -129,6 +130,9 @@ message AutopilotState
// message definition for MessageType: MsgTypePredictionObstacleTrajectory
// refer to prediction.proto
// message definition for MessageType: MsgTypePerceptionObstacles
// refer to TrackedObjects in object.proto
// message definition for MessageType: MsgTypeBasicInfoReq
message BasicInfoReq
{

126
libraries/mogo-adas-data/src/main/proto/object.proto Normal file
View File

@@ -0,0 +1,126 @@
syntax = "proto2";
package perception;
import "header.proto";
import "geometry.proto";
enum ObjectType {
TYPE_UNKNOWN = 0;
TYPE_PEDESTRIAN = 3;
TYPE_BICYCLE = 4;
TYPE_MOTOR = 5;
TYPE_RIDER = 6;
TYPE_CAR = 7;
TYPE_TRUCK = 8;
TYPE_BUS = 9;
TYPE_TRAIN = 10;
TYPE_SIGN = 20;
TYPE_LIGHT = 30;
TYPE_RED = 31;
TYPE_GREEN = 32;
TYPE_YELLOW = 33;
TYPE_BLACK = 34;
TYPE_TRIANGLEROADBLOCK = 35;
TYPE_WARNINGTRIANGLE = 36;
TYPE_UNKNOWN_SMALL = 91;
TYPE_UNKNOWN_BIG = 92;
TYPE_UNKNOWN_STATIC = 93;
TYPE_UNKNOWN_DYNAMIC = 94;
}
message BBox2D {
optional double xmin = 1 [default = nan]; // in pixel.
optional double ymin = 2 [default = nan];
optional double xmax = 3 [default = nan];
optional double ymax = 4 [default = nan];
}
message CameraObjectSupplement {
optional bool on_use = 1 [default = false];
optional BBox2D box = 2;
optional int32 cols = 3;
optional int32 rows = 4;
}
message LidarObjectSupplement {
optional bool on_use = 1 [default = false];
// Format: [x0, y0, z0, x1, y1, z1...]
repeated double cloud = 2 [packed = true];
}
message RadarObjectSupplement {
optional bool on_use = 1 [default = false];
optional float x = 2;
optional float y = 3;
optional float relative_vel_x = 4;
optional float relative_vel_y = 5;
optional float absolute_vel_x = 6;
optional float absolute_vel_y = 7;
}
message Object {
optional uint32 id = 1; // obj id, after tracked
optional string sensor_name = 2;
optional ObjectType type = 3; // obj category
optional double time_stamp = 4; // sensing time
optional float confidence = 5; // probability
optional int32 status = 6; // reserved
optional float x_distance = 7; // longitudinal distance
optional float y_distance = 8; // lateral distance
optional float angle = 9; // obj angle relative to host vehicle
optional geometry.Point center = 10; // x,y,z in meter
optional geometry.Point centroid = 11;
optional geometry.Vector3 size = 12; // length width height(in meter)
repeated geometry.Point contour = 13; // contour points
optional geometry.Vector3 velocity = 14; // sharing with visual/tracked obj
optional geometry.Vector3 acceleration = 15;
optional double tracking_time = 16;
// camera supplement
optional CameraObjectSupplement camera_supplement = 17;
// lidar supplement
optional LidarObjectSupplement lidar_supplement = 18;
// radar supplement
optional RadarObjectSupplement radar_supplement = 19;
//lidar polygon
repeated geometry.Point polygon = 20; // polygon points
}
message TrackedObject {
optional Object obj = 1;
optional float yaw = 2; //box orientation angle from x axis, counter clockwise(in rad),range 0 to 2*pi
optional float yaw_rate = 3; //in rad/s
optional geometry.Vector3 velocity = 4; // absolute velocity, in m/s, vx, vy, vz
repeated geometry.Trace trace = 5; // historical positions
repeated geometry.Trace prediction = 6; // predicted global position in future stamp
optional float absolute_longitude_v = 7; // along lane speed, m/s
optional float absolute_longitude_a = 8; // in m/s2, longitudinal acc
optional float absolute_lateral_v = 9; // vertical to lane speed, left positive, m/s
optional double longitude = 10; // longitude , in degrees
optional double latitude = 11; // latitude , in degrees
optional double alt = 12; // height above mean sea level in meters
optional double longitude_p = 13; // position in East , in meters
optional double latitude_p = 14; // position in North , in meters
optional double speed = 15; //absolute speed
//float x_speed // longitudinal speed relative to host vehicle, m/s
//float y_speed // lateral speed relative to host vehicle, m/s
}
message TrackedObjects {
optional common.Header header = 1;
optional string sensor_name = 2;
repeated TrackedObject objs = 3;
}

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -34,6 +34,8 @@ import com.zhjt.service.chain.TracingConstants;
import org.json.JSONObject;
import java.util.HashSet;
import java.util.Timer;
import java.util.TimerTask;
import java.util.concurrent.atomic.AtomicInteger;
import mogo.telematics.pad.MessagePad;
@@ -358,7 +360,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), "已连接");
}
sendCarConfigReq();
Timer timer = new Timer();
timer.schedule(new TimerTask() {
@Override
public void run() {
sendCarConfigReq();
}
}, 1600L); // 延迟1秒，执行一次task
}
@Override

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -6,6 +6,7 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.ObjectOuterClass;
import perception.TrafficLightOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
@@ -88,6 +89,15 @@ public interface OnAdasListener {
*/
void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects);
/**
* 透传的融合障碍物 他车数据
* 当 MessagePad.CarConfigResp.getProtocolVersionValue() >=3 时此回调有数据，老接口“MessagePad.TrackedObjects”不会回调任何数据
*
* @param header 头
* @param trackedObjects 数据
*/
void onTrackedObjects(MessagePad.Header header, ObjectOuterClass.TrackedObjects trackedObjects);
/**
* 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

@@ -20,6 +20,7 @@ public enum MessageType {
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_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
TYPE_RECEIVE_PERCEPTION_OBSTACLES(MessagePad.MessageType.MsgTypePerceptionObstacles, "透传的融合障碍物"),
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"),

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -18,7 +18,8 @@ public class MyMessageFactory implements IMyMessageFactory {
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 predictionObstacleTrajectory;//他车轨迹预测
private IMsg predictionObstacleTrajectoryMessage;//他车轨迹预测
private IMsg perceptionObstaclesMessage;//透传的融合障碍物
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
@@ -94,10 +95,16 @@ public class MyMessageFactory implements IMyMessageFactory {
return perceptionTrafficLightMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.typeCode) {
//他车轨迹预测
if (predictionObstacleTrajectory == null) {
predictionObstacleTrajectory = new PredictionObstacleTrajectoryMessage();
if (predictionObstacleTrajectoryMessage == null) {
predictionObstacleTrajectoryMessage = new PredictionObstacleTrajectoryMessage();
}
return predictionObstacleTrajectory;
return predictionObstacleTrajectoryMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PERCEPTION_OBSTACLES.typeCode) {
//他车轨迹预测
if (perceptionObstaclesMessage == null) {
perceptionObstaclesMessage = new PerceptionObstaclesMessage();
}
return perceptionObstaclesMessage;
} 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/PerceptionObstaclesMessage.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.ObjectOuterClass;
/**
* 透传的融合障碍物 ProtocolVersion >=3 版本生效
*/
public class PerceptionObstaclesMessage 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 {
ObjectOuterClass.TrackedObjects trackedObjects = ObjectOuterClass.TrackedObjects.parseFrom(msg);
if (adasListener != null) {
adasListener.onTrackedObjects(header, trackedObjects);
}
}
}