[pb10][金旅M1][靠边停车] 更新planning决策状态接口新增了靠边停车状态，添加给planning发送命令接口，目前用于发送靠边停车指令以及起步命令

2023-01-12 14:54:16 +08:00
parent d8728fe8c9
commit f68c5cbe20
7 changed files with 83 additions and 0 deletions
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -679,6 +679,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
        titleBtnData.add(Constants.TITLE.SEND_DETOURING_CLOSE);
        titleBtnData.add(Constants.TITLE.SEND_DETOURING_SPEED);
        titleBtnData.add(Constants.TITLE.SEND_TRIP_INFO);
+        titleBtnData.add(Constants.TITLE.SEND_PLANNING_CMD);

    }

@@ -1466,6 +1467,10 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                AdasManager.getInstance().sendTripInfoReq(4, "x19", "x20", "x21", true);
                AdasManager.getInstance().sendTripInfoReq(5, "x22", "x23", "x24", false);
                break;
+            case Constants.TITLE.SEND_PLANNING_CMD:
+                AdasManager.getInstance().sendPlanningCmd(1);
+                AdasManager.getInstance().sendPlanningCmd(2);
+                break;
        }
    }

--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
@@ -196,6 +196,7 @@ public class Constants {
        String SEND_DETOURING_CLOSE = "绕障类功能关";
        String SEND_DETOURING_SPEED = "绕障速度阈值";
        String SEND_TRIP_INFO = "行程信息";
+        String SEND_PLANNING_CMD = "给Planning指令";


    }
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -59,6 +59,7 @@ enum MessageType
    MsgTypeSetParamReq = 0x10119; //设置参数命令
    MsgTypeTripInfoEvent = 0x1011a; //行程信息
    MsgTypeBagManagerCmd = 0x1011b; //bag管理
+    MsgTypePlanningCmd = 0x1011c; //给planning的指令
 }

 message Header
@@ -489,6 +490,11 @@ enum DrivingAction
    DRIVING_ACTION_STATE_TWO = 2;
    DRIVING_ACTION_STATE_THREE = 3;
    DRIVING_ACTION_STATE_FOUR = 4;
+    DRIVING_ACTION_STATE_FIVE = 5;
+    DRIVING_ACTION_STATE_SIX = 6;
+    DRIVING_ACTION_STATE_SEVEN = 7;
+    DRIVING_ACTION_STATE_EIGHT = 8;
+    DRIVING_ACTION_STATE_NINE = 9;
 }

 message DrivingActionMsg
@@ -497,10 +503,36 @@ message DrivingActionMsg
    DrivingAction driving_action = 2;
 }

+enum ParkScenarioDrivingState
+{
+    PARK_SENARIO_NO_AUTODRIVING = 0; //不在自动驾驶状态
+    PARK_SENARIO_LANKE_KEEP = 1; //车道保持状态
+    PARK_SENARIO_LANE_AVOID_LEFT = 2; //主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
+    PARK_SENARIO_LANE_AVOID_RIGHT = 3; //主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
+    PARK_SENARIO_START_UP = 4; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步；
+    PARK_SENARIO_PULL_OVER = 5; //站点停车状态： driving_action：1 表示正常站点停车；driving_action:2 表示择机站点停车；
+    PARK_SENARIO_FORCE_PULL_OVER_ON = 6; //响应触发靠边停车状态： driving_action：1 表示开始靠边停车；driving_action:2 表示靠边停车成功；3：靠边停车失败;
+    PARK_SENARIO_FORCE_PULL_OVER_OFF = 7; //不响应触发靠边停车状态： driving_action：1 表示距离前方站点100m；driving_action:2 表示距离路口100m；3： 正在变道 。。。
+}
+
+message ParkScenarioDrivingAction
+{
+    ParkScenarioDrivingState driving_state = 1; //决策场景
+    DrivingAction driving_action = 2; //决策场景状态
+}
+
+message ParkScenarioPlanningAction
+{
+    ParkScenarioDrivingAction action_msg = 1; //决策场景（包含场景以及响应状态）
+    double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值)
+}
+
 message PlanningActionMsg
 {
    DrivingActionMsg action_msg = 1;
    double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值)
+
+    ParkScenarioPlanningAction park_scenario_action = 3;
 }

 //message definition for MsgTypeSpecialVehicleTaskCmd
@@ -543,4 +575,15 @@ message TripInfoEvent
 //message definition for MsgTypeBagManagerCmd
 //refer to bag_manager.proto for details

+//message definition for MsgTypePlanningCmd
+message PullOverCmd
+{
+    uint32 cmd = 1; //0: default 1: 靠边停车 2:重新起步
+}
+
+message PlanningCmd
+{
+    PullOverCmd pullOverCmd = 1;
+}
+

--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -1179,6 +1179,20 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
        return subscribeInterface != null && subscribeInterface.subscribeInterface(role, type, messageType);
    }

+    /**
+     * 给Planning发送指令
+     *
+     * @param cmd 命令 0: default 1: 靠边停车 2:重新起步
+     * @return boolean
+     */
+    @Override
+    public boolean sendPlanningCmd(int cmd) {
+        MessagePad.PlanningCmd planningCmd = MessagePad.PlanningCmd.newBuilder()
+                .setPullOverCmd(MessagePad.PullOverCmd.newBuilder().setCmd(cmd))
+                .build();
+        return sendPBMessage(MessageType.TYPE_SEND_PLANNING_CMD.typeCode, planningCmd.toByteArray());
+    }
+
    /**
     * 福田清扫车业务指令下发
     *
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -601,6 +601,17 @@ public class AdasManager implements IAdasNetCommApi {
        return mChannel != null && mChannel.subscribeInterface(role, type, messageType);
    }

+    /**
+     * 给Planning发送指令
+     *
+     * @param cmd 命令 0: default 1: 靠边停车 2:重新起步
+     * @return boolean
+     */
+    @Override
+    public boolean sendPlanningCmd(int cmd) {
+        return mChannel != null && mChannel.sendPlanningCmd(cmd);
+    }
+
    /**
     * 福田清扫车业务指令下发
     *
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -319,6 +319,14 @@ public interface IAdasNetCommApi {
     */
    boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType);

+    /**
+     * 给Planning发送指令
+     *
+     * @param cmd 命令 0: default 1: 靠边停车 2:重新起步
+     * @return boolean
+     */
+    boolean sendPlanningCmd(int cmd);
+
    /**
     * 福田清扫车业务指令下发
     *
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
@@ -56,6 +56,7 @@ public enum MessageType {
    TYPE_SEND_TRIP_INFO_REQ(MessagePad.MessageType.MsgTypeTripInfoEvent, "行程信息"),
    TYPE_SEND_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理请求"),
    TYPE_RECEIVE_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理应答"),
+    TYPE_SEND_PLANNING_CMD(MessagePad.MessageType.MsgTypePlanningCmd, "给Planning指令"),
    //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"),