diff --git 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 index 10e795c8b7..50d574ae5f 100644 --- 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; } } diff --git 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 index 990934a988..442a540ee9 100644 --- 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"; } diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 6a7697b44a..f96fe6fa96 100644 --- 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; +} + diff --git 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 index a78ef34a3d..4c506bdf23 100644 --- 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 * diff --git 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 index 413db8a7dc..b3196efb2a 100644 --- 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 * diff --git 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 index 01651ce607..a3d7f800a3 100644 --- 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 * diff --git 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 index 0fc6072d49..e26821efc5 100644 --- 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"),