[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

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

@@ -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 
 {

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

@@ -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;
+}
+

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

@@ -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

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

@@ -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
      *

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

@@ -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"),

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

@@ -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) {

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.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.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);
+        }
+    }
+
+
+}