[650][adas] NDE V2N事件：绿波通行（单路口）事件推送, 透传、行人横穿（路侧）事件推送, 透传、他车逆行（路侧）事件推送, 透传、拥堵事件推送, 透传;数据中心新增NDE相关接口

2024-06-13 11:31:19 +08:00
parent d7e4daddc0
commit f205893029
10 changed files with 436 additions and 3 deletions
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
@@ -80,6 +80,10 @@ public enum MessageType {
    TYPE_RECEIVE_PARALLEL_DRIVING_STATUS(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶状态", 5000),
    TYPE_SEND_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "发送消息回执"),
    TYPE_RECEIVE_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "接收消息回执"),
+    TYPE_RECEIVE_V2N_NIO_GREEN_WAVE_PASSAGE_EVENT(MessagePad.MessageType.MsgTypeV2nNioGreenWavePassageEvent, "V2N NIO绿波通行（单路口）"),
+    TYPE_RECEIVE_V2N_NIO_CROSSOVER_EVENT(MessagePad.MessageType.MsgTypeV2nNioCrossoverEvent, "V2N NIO行人横穿（路侧）"),
+    TYPE_RECEIVE_V2N_NIO_OTHER_RETROGRADE_EVENT(MessagePad.MessageType.MsgTypeV2nNioOtherRetrogradeEvent, "V2N NIO他车逆行（路侧）"),
+    TYPE_RECEIVE_V2N_NIO_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nNioCongestionEvent, "V2N NIO拥堵事件"),
    //TODO 透传原始pb文件中不存在以下type。由于Java中无法强转,所以在mogo-adas-data/message_pad.proto中放开注释
    TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态"),
    TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, "清扫车指标数据"),
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -77,6 +77,11 @@ enum MessageType
    MsgTypeGetDebugInfo = 0x10125; //debug信息查询 pad->telematics
    MsgTypeParallelDrivingCmd = 0x10126; //无人化场景，平行驾驶请求相关指令及状态反馈, 云控<->鹰眼双向透传
    MsgTypeReceivedAck = 0x10127; //消息接收ack, 表示消息已接收到
+
+    MsgTypeV2nNioGreenWavePassageEvent = 0x10128; //绿波通行（单路口）事件推送, 透传
+    MsgTypeV2nNioCrossoverEvent = 0x10129; //行人横穿（路侧）事件推送, 透传
+    MsgTypeV2nNioOtherRetrogradeEvent = 0x1012a; //他车逆行（路侧）事件推送, 透传
+    MsgTypeV2nNioCongestionEvent = 0x1012b; //拥堵事件推送, 透传
 }

 message Header
@@ -94,6 +99,130 @@ message ReceivedAck
    repeated uint64 msgids = 1; //确认收到的msgid列表
 }

+// message definition for MsgTypeV2nNioGreenWavePassageEvent
+message V2nCrossSpeed
+{
+    //直行
+    uint32 speed_straight_min = 1;
+    uint32 speed_straight_max = 2;
+    //左转
+    uint32 speed_left_min = 3;
+    uint32 speed_left_max = 4;
+    //右转
+    uint32 speed_right_min = 5;
+    uint32 speed_right_max = 6;
+    //车道限速
+    uint32 max_speed = 7;
+    //限速来源 0融合 1默认
+    uint32 max_status = 8;
+    //路口经度
+    double lng = 9;
+    //路口纬度
+    double lat = 10;
+}
+
+// message definition for MsgTypeV2nNioCongestionEvent
+message V2nCongestion
+{
+    // 消息时间,发送消息时间戳，单位毫秒
+    uint64 msg_time = 1;
+    // 消息名称
+    string msg_name = 2;
+    // 数据源，0:路侧设备、1:人工上报、2:地图、3:三方数据源
+    uint32 data_source = 3;
+    // 路段拥堵详情
+    repeated CongestionInfo infos = 4;
+}
+
+message Geo{
+    // 经度
+    double lon = 1;
+    // 维度
+    double lat = 2;
+}
+
+message EventLocationGeo{
+    //开始经度--队头
+    double startLng = 1;
+    //开始纬度--队头
+    double startLat = 2;
+    //结束经度 -- 队尾
+    double endLng = 3;
+    //结束纬度 --队尾
+    double endLat =4;
+    // 事件区域--- 车道中心线的坐标
+    repeated Geo regions = 5;
+}
+
+message TimePeriod{
+    // 事件开始时间，UTC+0 时间戳，精确到毫秒
+    uint64 start_time = 1;
+    // 事件结束时间，UTC+0 时间戳，精确到毫秒，没有传 0
+    uint64 end_time = 2;
+    // 事件更新时间，UTC+0 时间戳，精确到毫秒，没有传 0
+    uint64 update_time = 3;
+    // 事件确认时间，UTC+0 时间戳，精确到毫秒，没有传 0
+    uint64 confirm_time = 4;
+}
+
+message CongestionInfo
+{
+    // 事件状态，0:消散、1:生成
+    uint32 data_status = 1;
+    // 事件时间相关信息
+    TimePeriod  time_period = 2;
+    // 事件发生位置的经纬度信息
+    EventLocationGeo event_location_geo = 3;
+    //事件发生的原始照片
+    repeated string img_file_key = 4;
+    // 事件类型, 101 施工、 102 三角牌, 103 静止车,104 拥堵
+    uint32 event_type = 5;
+    // 事件唯一性
+    string msg_uuid = 6;
+    // 拥堵等级 1，畅通，2，缓行，3，拥堵，4，严重拥堵
+    uint32 congestion_level = 7;
+    // 车道号
+    uint32 lane_no = 8;
+    // 拥堵细类 0，路段拥堵，1 路口拥堵
+    uint32 congestion_type = 9;
+    // 车道方向，正北是0，顺时针方向
+    double bearing = 10;
+    // 如果拥堵细类是路口，则有该路口中心点坐标
+    double lon = 11;
+    double lat = 12;
+    // 视频地址 2024-06-03新增字段
+    string video_url = 13;
+    // 来源ip 2024-06-03 新增字段
+    string camera_ip = 14;
+}
+
+enum EventType
+{
+    CONVERSE_RUNNING = 0;//逆行/倒车
+    SLOW_RUNNING = 1;//慢行
+    SPEEDING_RUNNING = 2;//快行
+    EMERGENCY_BRAKING = 3;//紧急制动
+    ABNORMAL_PARKING = 4;//异常停车
+    NON_VEHICLE_INTRUSION = 5;//行人/非机动车闯入
+}
+
+// message definition for MsgTypeV2nNioCrossoverEvent / MsgTypeV2nNioOtherRetrogradeEvent
+message Event
+{
+    uint32 channelId = 1; //渠道来源，mogo默认10
+    uint64 rcuId = 2; //平台未维护，暂用基站号
+    EventType eventType = 3; //事件类别
+    uint32 confidence = 4; //事件置信度
+    uint32 gnssType = 5; //坐标系类型， 0:GCJ02坐标系，2:WGS84坐标系
+    double longitude = 6;
+    double latitude = 7;
+    uint64 timestamp = 8; //时间戳
+    string eventId = 9; // 事件id
+    string exts = 10; //扩展字段，传递相机ip，{"cameraIp":"172.18.7.40"}
+    uint32 targetIdsLen = 11; //事件关联的目标对象uuid个数
+    repeated string targetIds = 12; //事件关联的目标对象uuid列表
+}
+
 // message definition for MsgTypeTrajectory
 message TrajectoryPoint
 {
@@ -345,7 +474,7 @@ message CarConfigResp
    double maxAcceleration = 8; //最大加速度, 单位：m/s²
    string carType = 9; //车辆类型
    string subCarType = 10; //车辆子类型
-    string vinCode = 11;//车辆vin码
+    string vinCode = 11;//车辆vin码 taxi: 420 bus: 440
    reserved 12 to 100;
    int32 mapVersion = 101;//dockVersion解析出版本号，仅用于版本对比，解析失败为-1。例如："MAP-taxi_RoboTaxi_df_2.8.0.3_20220928_test" 解析结果为：20800
    bool isDF = 102;//车型是否是东风
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -11,8 +11,8 @@ import com.zhjt.mogo.adas.data.AdasConstants;
 import com.zhjt.mogo.adas.data.AiCloudTask;
 import com.zhjt.mogo.adas.data.bean.AdasParam;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
-import com.zhjt.mogo.adas.data.bean.ReceivedAck;
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData;
+import com.zhjt.mogo.adas.data.bean.ReceivedAck;
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
@@ -480,6 +480,38 @@ public interface OnAdasListener {
     */
    void onM1StitchedVideo(@NonNull MessagePad.Header header, @NonNull byte[] data);

+    /**
+     * 绿波通行（单路口）事件推送, 透传
+     *
+     * @param header     头
+     * @param crossSpeed 数据
+     */
+    void onV2nNioGreenWavePassageEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.V2nCrossSpeed crossSpeed);
+
+    /**
+     * 行人横穿（路侧）事件推送, 透传
+     *
+     * @param header 头
+     * @param event  数据
+     */
+    void onV2nNioCrossoverEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.Event event);
+
+    /**
+     * 他车逆行（路侧）事件推送, 透传
+     *
+     * @param header 头
+     * @param event  数据
+     */
+    void onV2nNioOtherRetrogradeEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.Event event);
+
+    /**
+     * 拥堵事件推送, 透传
+     *
+     * @param header     头
+     * @param congestion 数据
+     */
+    void onV2nNioCongestionEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.V2nCongestion congestion);
+
    /**
     * 域控SSM接口接收超时
     * 状态变动时才会回调，默认SSM状态正常
@@ -492,7 +524,7 @@ public interface OnAdasListener {
     * 是否有能力启动自动驾驶
     *
     * @param isAutopilotAbility     是否能启动自动驾驶
-     * @param launchConditionData       原始数据
+     * @param launchConditionData    原始数据
     * @param unableAutopilotReasons 不能启动自动驾驶原因
     */
    void onAutopilotAbility(boolean isAutopilotAbility, @NonNull LaunchConditionData launchConditionData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
@@ -46,6 +46,10 @@ public class MyMessageFactory implements IMyMessageFactory {
    private IMsg aiCloudTaskMessage;//云控任务：清扫车任务指令、无人化场景，平行驾驶请求相关指令及状态反馈
    private IMsg m1StitchedVideoMessage;//M1拼接视频
    private IMsg fSMStatusReasonRespondMessage;//FSM状态原因查询
+    private IMsg v2nNioGreenWavePassageEventMessage;//V2N NIO绿波通行（单路口）
+    private IMsg v2nNioCrossoverEventMessage;//V2N NIO行人横穿（路侧）
+    private IMsg v2nNioOtherRetrogradeEventMessage;//V2N NIO他车逆行（路侧）
+    private IMsg v2nNioCongestionEventMessage;//V2N NIO拥堵事件

    private final AutopilotReview autopilotReview;
    private final TurnLightState lightLeft = new TurnLightState();
@@ -254,6 +258,30 @@ public class MyMessageFactory implements IMyMessageFactory {
                fSMStatusReasonRespondMessage = new FSMStatusReasonRespondMessage();
            }
            return fSMStatusReasonRespondMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_V2N_NIO_GREEN_WAVE_PASSAGE_EVENT.typeCode) {
+            //V2N NIO绿波通行（单路口）
+            if (v2nNioGreenWavePassageEventMessage == null) {
+                v2nNioGreenWavePassageEventMessage = new V2nNioGreenWavePassageEventMessage();
+            }
+            return v2nNioGreenWavePassageEventMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_V2N_NIO_CROSSOVER_EVENT.typeCode) {
+            //V2N NIO行人横穿（路侧）
+            if (v2nNioCrossoverEventMessage == null) {
+                v2nNioCrossoverEventMessage = new V2nNioCrossoverEventAndOtherRetrogradeEventMessage(messageType);
+            }
+            return v2nNioCrossoverEventMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_V2N_NIO_OTHER_RETROGRADE_EVENT.typeCode) {
+            //V2N NIO他车逆行（路侧）
+            if (v2nNioOtherRetrogradeEventMessage == null) {
+                v2nNioOtherRetrogradeEventMessage = new V2nNioCrossoverEventAndOtherRetrogradeEventMessage(messageType);
+            }
+            return v2nNioOtherRetrogradeEventMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_V2N_NIO_CONGESTION_EVENT.typeCode) {
+            //V2N NIO拥堵事件
+            if (v2nNioCongestionEventMessage == null) {
+                v2nNioCongestionEventMessage = new V2nNioCongestionEventMessage();
+            }
+            return v2nNioCongestionEventMessage;
        } else {
            //MessageType.TYPE_DEFAULT.typeCode
            return null;
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nNioCongestionEventMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nNioCongestionEventMessage.java
@@ -0,0 +1,31 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.os.SystemClock;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * V2N NIO拥堵事件
+ */
+public class V2nNioCongestionEventMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        MessagePad.V2nCongestion v2nCongestion = MessagePad.V2nCongestion.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("V2N NIO拥堵事件", raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onV2nNioCongestionEvent(raw.getHeader(), v2nCongestion);
+        }
+        AdasChannel.calculateTimeConsumingBusiness("V2N NIO拥堵事件", nowTime);
+    }
+
+}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nNioCrossoverEventAndOtherRetrogradeEventMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nNioCrossoverEventAndOtherRetrogradeEventMessage.java
@@ -0,0 +1,43 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.os.SystemClock;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+import com.zhjt.mogo.adas.common.MessageType;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * V2N NIO行人横穿（路侧）和 V2N NIO他车逆行（路侧）
+ */
+public class V2nNioCrossoverEventAndOtherRetrogradeEventMessage extends MyAbstractMessageHandler {
+    private final MessagePad.MessageType messageType;
+    private final String TAG;
+
+    public V2nNioCrossoverEventAndOtherRetrogradeEventMessage(MessagePad.MessageType messageType) {
+        this.messageType = messageType;
+        TAG = messageType == MessageType.TYPE_RECEIVE_V2N_NIO_CROSSOVER_EVENT.typeCode ? "V2N NIO行人横穿（路侧）" : "V2N NIO他车逆行（路侧）";
+    }
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        MessagePad.Event event = MessagePad.Event.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AdasChannel.calculateTimeConsumingOnDispatchRaw(TAG, raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            if (messageType == MessageType.TYPE_RECEIVE_V2N_NIO_CROSSOVER_EVENT.typeCode) {
+                adasListener.onV2nNioCrossoverEvent(raw.getHeader(), event);
+            } else if (messageType == MessageType.TYPE_RECEIVE_V2N_NIO_OTHER_RETROGRADE_EVENT.typeCode) {
+                adasListener.onV2nNioOtherRetrogradeEvent(raw.getHeader(), event);
+            }
+        }
+        AdasChannel.calculateTimeConsumingBusiness(TAG, nowTime);
+    }
+
+}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nNioGreenWavePassageEventMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nNioGreenWavePassageEventMessage.java
@@ -0,0 +1,31 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.os.SystemClock;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * V2N NIO绿波通行（单路口）
+ */
+public class V2nNioGreenWavePassageEventMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        MessagePad.V2nCrossSpeed v2nCrossSpeed = MessagePad.V2nCrossSpeed.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("V2N NIO绿波通行（单路口）", raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onV2nNioGreenWavePassageEvent(raw.getHeader(), v2nCrossSpeed);
+        }
+        AdasChannel.calculateTimeConsumingBusiness("V2N NIO绿波通行（单路口）", nowTime);
+    }
+
+}