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[mogo-adas] 添加V2N 主车附近事件推送接口和主车路径全局事件推送接口

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This commit is contained in:
xinfengkun
2023-03-29 14:16:25 +08:00
parent 85a1866f2c
commit facd1e84c1
14 changed files with 812 additions and 50 deletions
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23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
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@@ -115,6 +115,8 @@ public class DataDistribution {
public final List<DataShow> listObuRsi = new ArrayList<>();
public final List<DataShow> listObuRsm = new ArrayList<>();
public final List<DataShow> listObuMap = new ArrayList<>();
public final List<DataShow> listV2nCongestionEvent = new ArrayList<>();
public final List<DataShow> listV2nGlobalPathEvents = new ArrayList<>();
private long listTrajectorySize = 0;
private long listTrackedObjectsSize = 0;
@@ -143,7 +145,8 @@ public class DataDistribution {
private long listObuRsiSize = 0;
private long listObuRsmSize = 0;
private long listObuMapSize = 0;
private long listV2nCongestionEventSize = 0;
private long listV2nGlobalPathEventsSize = 0;
public void clearCount() {
listTrajectorySize = 1;
@@ -173,6 +176,8 @@ public class DataDistribution {
listObuRsiSize = 1;
listObuRsmSize = 1;
listObuMapSize = 1;
listV2nCongestionEventSize = 1;
listV2nGlobalPathEventsSize = 1;
}
public String cutDown(String str) {
@@ -369,6 +374,22 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeV2nCongestionEvent) {
listV2nCongestionEvent.add(0, new DataShow(listV2nCongestionEventSize++, time + str));
if (listV2nCongestionEvent.size() > LIST_SIZE) {
listV2nCongestionEvent.remove(listV2nCongestionEvent.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_V2N_CONGESTION_EVENT.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeV2nGlobalPathEvents) {
listV2nGlobalPathEvents.add(0, new DataShow(listV2nGlobalPathEventsSize++, time + str));
if (listV2nGlobalPathEvents.size() > LIST_SIZE) {
listV2nGlobalPathEvents.remove(listV2nGlobalPathEvents.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_V2N_GLOBAL_PATH_EVENTS.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof PerceptionTrafficLight) {
listPerceptionTrafficLight.add(0, new DataShow(listPerceptionTrafficLightSize++, time + str));
if (listPerceptionTrafficLight.size() > LIST_SIZE) {

59
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/V2nGlobalPathEventsReceiveData.java Normal file
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@@ -0,0 +1,59 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.zhidao.support.adas.high.common.ByteUtil;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.MogoV2X;
import mogo.v2x.RoadOverviewEvents;
public class V2nGlobalPathEventsReceiveData extends BaseInfo {
public final RoadOverviewEvents.RoadOverviewData roadOverview;
public final MogoV2X.RSI_PB construct;
public final MogoV2X.RSI_PB triangle;
public final MogoV2X.RSI_PB congestion;
public final MogoV2X.RSM_PB parkingViolation;
public V2nGlobalPathEventsReceiveData(MessagePad.Header header, RoadOverviewEvents.RoadOverviewData roadOverview, MogoV2X.RSI_PB construct, MogoV2X.RSI_PB triangle, MogoV2X.RSI_PB congestion, MogoV2X.RSM_PB parkingViolation, SimpleDateFormat sdf) {
super("接收", roadOverview.getSerializedSize(), header, sdf);
this.roadOverview = roadOverview;
this.construct = construct;
this.triangle = triangle;
this.congestion = congestion;
this.parkingViolation = parkingViolation;
}
@Override
public String toString() {
StringBuilder builder = new StringBuilder();
builder.append('\n').append("施工：");
if (construct != null) {
builder.append(TextFormat.printer().escapingNonAscii(false).printToString(construct));
} else {
builder.append("null");
}
builder.append('\n').append("三角牌：");
if (triangle != null) {
builder.append(TextFormat.printer().escapingNonAscii(false).printToString(triangle));
} else {
builder.append("null");
}
builder.append('\n').append("拥堵：");
if (congestion != null) {
builder.append(TextFormat.printer().escapingNonAscii(false).printToString(congestion));
} else {
builder.append("null");
}
builder.append('\n').append("违停：");
if (parkingViolation != null) {
builder.append(TextFormat.printer().escapingNonAscii(false).printToString(parkingViolation));
} else {
builder.append("null");
}
return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(roadOverview.toByteArray()) + builder.toString();
}
}

4
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
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@@ -227,6 +227,10 @@ public class InfoFragment extends BaseFragment {
adapter.setData(DataDistribution.getInstance().listBackCameraVideo);
} else if (Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(title)) {
adapter.setData(DataDistribution.getInstance().listRoboSweeperTaskIndex);
} else if (Constants.TITLE.RECEIVE_V2N_CONGESTION_EVENT.equals(title)) {
adapter.setData(DataDistribution.getInstance().listV2nCongestionEvent);
} else if (Constants.TITLE.RECEIVE_V2N_GLOBAL_PATH_EVENTS.equals(title)) {
adapter.setData(DataDistribution.getInstance().listV2nGlobalPathEvents);
} else {
adapter.setData(DataDistribution.getInstance().listErrorData);
}

18
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -64,6 +64,7 @@ import com.zhidao.adas.client.bean.ReceiveBytesData;
import com.zhidao.adas.client.bean.ReceiveData;
import com.zhidao.adas.client.bean.SendCmd;
import com.zhidao.adas.client.bean.SpecialVehicleBean;
import com.zhidao.adas.client.bean.V2nGlobalPathEventsReceiveData;
import com.zhidao.adas.client.log.ConnectStatusSave;
import com.zhidao.adas.client.log.LogSave;
import com.zhidao.adas.client.other.permission.BackgrounderPermission;
@@ -85,6 +86,7 @@ import com.zhidao.support.adas.high.common.RegexUtils;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
import java.net.Inet4Address;
import java.net.InetAddress;
@@ -104,6 +106,8 @@ import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.MogoV2X;
import mogo.v2x.RoadOverviewEvents;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
@@ -711,6 +715,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_MAP);
titleFragmentData.add(Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA);
titleFragmentData.add(Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO);
titleFragmentData.add(Constants.TITLE.RECEIVE_V2N_CONGESTION_EVENT);
titleFragmentData.add(Constants.TITLE.RECEIVE_V2N_GLOBAL_PATH_EVENTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
@@ -1137,6 +1143,18 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onV2nCongestionEvent(@NotNull MessagePad.Header header, @NotNull MogoV2X.RSI_PB rsi) {
ReceiveData base = new ReceiveData(header, rsi, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onV2nGlobalPathEvents(@NotNull MessagePad.Header header, @NotNull RoadOverviewEvents.RoadOverviewData roadOverview, @Nullable MogoV2X.RSI_PB construct, @Nullable MogoV2X.RSI_PB triangle, @Nullable MogoV2X.RSI_PB congestion, @Nullable MogoV2X.RSM_PB parkingViolation) {
V2nGlobalPathEventsReceiveData base = new V2nGlobalPathEventsReceiveData(header, roadOverview, construct, triangle, congestion, parkingViolation, sdf);
DataDistribution.getInstance().addData(base);
}
private void initAdas() {
CupidLogUtils.e(TAG, "--->初始化");
AdasOptions options;

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
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@@ -162,6 +162,8 @@ public class Constants {
String RECEIVE_PLANNING_OBJECTS = MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.desc;
String RECEIVE_PLANNING_DECISION_STATE = MessageType.TYPE_RECEIVE_PLANNING_DECISION_STATE.desc;
String RECEIVE_SWEEPER_TASK_INDEX_DATA = MessageType.TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA.desc;
String RECEIVE_V2N_CONGESTION_EVENT = MessageType.TYPE_RECEIVE_V2N_CONGESTION_EVENT.desc;
String RECEIVE_V2N_GLOBAL_PATH_EVENTS = MessageType.TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS.desc;
// String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
String TITLE_CAR_CONFIG_RESP = "工控机版本\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t配置";

26
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -65,6 +65,8 @@ import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
import function_state_management.FunctionStates
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.v2x.MogoV2X
import mogo.v2x.RoadOverviewEvents
import mogo_msg.MogoReportMsg
import perception.TrafficLightOuterClass
import planning.RoboSweeperTaskIndexOuterClass
@@ -631,6 +633,30 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
/**
* 主车附近事件推送
*
* @param header 头
* @param rsi 数据
*/
override fun onV2nCongestionEvent(header: MessagePad.Header, rsi: MogoV2X.RSI_PB) {
}
/**
* 主车路径全局事件推送
*
* @param header 头
* @param roadOverview 主车路径全局事件推送
* @param construct 施工
* @param triangle 三角牌
* @param congestion 拥堵
* @param parkingViolation 违停 ---包含 静态障碍车
*/
override fun onV2nGlobalPathEvents(header: MessagePad.Header, roadOverview: RoadOverviewEvents.RoadOverviewData, construct: MogoV2X.RSI_PB?, triangle: MogoV2X.RSI_PB?, congestion: MogoV2X.RSI_PB?, parkingViolation: MogoV2X.RSM_PB?) {
}
/**
* 是否可以启动自动驾驶
* 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility

9
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -62,6 +62,8 @@ enum MessageType
MsgTypeBagManagerCmd = 0x1011b; //bag管理
MsgTypePlanningCmd = 0x1011c; //给planning的指令
MsgTypeSetParamReqV2 = 0x1011d; //设置参数命令V2
MsgTypeV2nCongestionEvent = 0x1011e; //主车附近拥堵事件推送, 透传
MsgTypeV2nGlobalPathEvents = 0x1011f; //主车路径全局事件推送, 透传
}
message Header
@@ -629,3 +631,10 @@ message PlanningCmd
//message definition for MsgTypeBackCameraVideo
//payload:jpeg data
//message definition for MsgTypeV2nCongestionEvent
//refer to RSI_PB in mogo_v2x.proto for details
//message definition for MsgTypeV2nGlobalPathEvents
//refer to road_overview_events.proto for details

583
libraries/mogo-adas-data/src/main/proto/mogo_v2x.proto
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@@ -1,88 +1,573 @@
syntax = "proto2";
package mogo.v2x;
import "header.proto";
message VerticalOffset_PB{
oneof VerticalOffset{
int32 offset1 = 1;
int32 offset2 = 2;
int32 offset3 = 3;
int32 offset4 = 4;
int32 offset5 = 5;
int32 offset6 = 6;
int32 elevation = 7;
}
//-- Vertical Offset
//-- All below in steps of 10cm above or below the reference ellipsoid
//offset1 VertOffset-B07, -- with a range of +- 6.3 meters vertical
//offset2 VertOffset-B08, -- with a range of +- 12.7 meters vertical
//offset3 VertOffset-B09, -- with a range of +- 25.5 meters vertical
//offset4 VertOffset-B10, -- with a range of +- 51.1 meters vertical
//offset5 VertOffset-B11, -- with a range of +- 102.3 meters vertical
//offset6 VertOffset-B12, -- with a range of +- 204.7 meters vertical
//elevation Elevation -- with a range of -409.5 to + 6143.9 meters
oneof VerticalOffset{
int32 offset1 = 1;
int32 offset2 = 2;
int32 offset3 = 3;
int32 offset4 = 4;
int32 offset5 = 5;
int32 offset6 = 6;
int32 elevation = 7;
}
}
message VehicleSize_PB {
required int32 width = 1;
required int32 length = 2;
optional int32 height = 3;
required int32 width = 1;
required int32 length = 2;
optional int32 height = 3;
}
message AccelerationSet4Way_PB {
required int32 lon = 1;
required int32 lat = 2;
required int32 vert = 3;
required int32 yaw = 4;
required int32 lon = 1;
required int32 lat = 2;
required int32 vert = 3;
required int32 yaw = 4;
}
//////////////////////////////////////////////////////////////////
//经纬度偏差，来描述一个坐标点的相对位置。约定偏差值等于真实值减去参考值。
//提供了 7 种尺度的描述方式
message PositionOffsetLL_PB{
oneof PositionOffsetLL{
Position_LL_24B position_LL1 = 1;
Position_LL_28B position_LL2 = 2;
Position_LL_32B position_LL3 = 3;
Position_LL_36B position_LL4 = 4;
Position_LL_44B position_LL5 = 5;
Position_LL_48B position_LL6 = 6;
Position_LLmD_64b position_LatLon = 7;
}
//position-LL1 Position-LL-24B,
//-- within +- 22.634554 meters of the reference position
//position-LL2 Position-LL-28B,
//-- within +- 90.571389 meters of the reference position
//position-LL3 Position-LL-32B,
//-- within +- 362.31873 meters of the reference position
//position-LL4 Position-LL-36B,
//-- within +- 01.449308 Kmeters of the reference position
//position-LL5 Position-LL-44B,
//-- within +- 23.189096 Kmeters of the reference position
//position-LL6 Position-LL-48B,
//-- within +- 92.756481 Kmeters of the reference position
//position-LatLon Position-LLmD-64b
oneof PositionOffsetLL{
Position_LL_24B position_LL1 = 1;
Position_LL_28B position_LL2 = 2;
Position_LL_32B position_LL3 = 3;
Position_LL_36B position_LL4 = 4;
Position_LL_44B position_LL5 = 5;
Position_LL_48B position_LL6 = 6;
Position_LLmD_64b position_LatLon = 7;
}
}
message Position_LL_24B{
// (-2048..2047)
required int64 lon = 1;
required int64 lat = 2;
// (-2048..2047)
required int64 lon = 1;
required int64 lat = 2;
}
message Position_LL_28B{
// (-8192..8191)
required int64 lon = 1;
required int64 lat = 2;
// (-8192..8191)
required int64 lon = 1;
required int64 lat = 2;
}
message Position_LL_32B{
// (-32768..32767)
required int64 lon = 1;
required int64 lat = 2;
// (-32768..32767)
required int64 lon = 1;
required int64 lat = 2;
}
message Position_LL_36B{
// (-131072..131071)
required int64 lon = 1;
required int64 lat = 2;
// (-131072..131071)
required int64 lon = 1;
required int64 lat = 2;
}
message Position_LL_44B{
// (-2097152..2097151)
required int64 lon = 1;
required int64 lat = 2;
// (-2097152..2097151)
required int64 lon = 1;
required int64 lat = 2;
}
message Position_LL_48B{
// (-8388608..8388607)
required int64 lon = 1;
required int64 lat = 2;
// (-8388608..8388607)
required int64 lon = 1;
required int64 lat = 2;
}
message Position_LLmD_64b{
// 定义经度数值。东经为正，西经为负。
//分辨率为1e-7°。
required int64 lon = 1;
required int64 lat = 2;
// 定义经度数值。东经为正，西经为负。
//分辨率为1e-7°。
required int64 lon = 1;
required int64 lat = 2;
}
//////////////////////////////////////////////////////////////////
message PositionOffsetLLV_PB{
required PositionOffsetLL_PB offsetLL = 1;
required PositionOffsetLL_PB offsetLL = 1;
optional VerticalOffset_PB offsetV = 2;
}
optional VerticalOffset_PB offsetV = 2;
/************************************************/
message RoadSideInformation_PB {
//发送方为自己发送的同类消息，依次进行编号。编号数值为0～127，循环使用。
//该数据字段用于接收方对来自同一发送方的同一类消息，进行连续收包的监控和丢包的统计。
required int64 msgCnt = 1;
//数值用来表示当前年份，已经过去的总分钟数（UTC时间）。
//其分辨率为1分钟。该数值配合DSecond数值，则可以表示以毫秒记的全年已过去的总时间。
optional int64 moy = 2;
//RSU_ID
required String_PB id = 3;
//RSU 对应坐标
required Position3D_PB refPos = 4;
//交通事件内容
optional RTEList_PB rtes = 5;
//交通标志内容
optional RTSList_PB rtss = 6;
}
message String_PB {
required uint32 string_type = 1;
required string str_value = 2;
}
message Position3D_PB {
required int64 lat = 1;
required int64 Long = 2;
optional int64 elevation = 3;
}
message RTEList_PB {
//定义道路交通事件集合。
//至少包含1个道路交通事件信息，最多包含8个。
repeated RTEData_PB rteData = 1;
}
message RTEData_PB {
//(0..255)
required int64 rteId = 1;
// required EventType_PB eventType=2;
required int32 eventType = 2;
required EventSource_PB eventSource = 3;
optional PositionOffsetLLV_PB eventPos = 4;
// 分辨率为10 cm。
// (0..65535)
optional int64 eventRadius = 5;
//提供ASCII字符文本形式，支持长度1字节到512字节。该类型不提供
//提供中文编码形式，符合GB2312-80的编码规则，1个中文字符由2字节信息编码，支持长度1到256
//个中文字符
//Description
optional String_PB description = 6;
optional RSITimeDetails_PB timeDetails = 7;
// 表示RSI消息中不同类型交通事件或交通标志的优先级。数值长度占8位，其中低五位为0，为无效
//位，高三位为有效数据位。数值有效范围是B00000000到B11100000，分别表示8档由低到高的优先级。
//对应 RSIPriority
optional String_PB priority = 8;
optional ReferencePathList_PB referencePaths = 9;
optional ReferenceLinkList_PB referenceLinks = 10;
//定义置信度。
//分辨率为0.005。
// 0-200
optional int32 eventConfidence = 11;
}
message EventSource_PB {
//unknown(0), -- 0 Unknown
//police(1), -- 1 traffic police
//government(2), -- 2 govenment
//meteorological(3), -- 3 meteorological department
//internet(4), -- 4 internet services
//detection(5), -- 5 local detection
enum EventSource{
EventSource_unknown = 0;
EventSource_police = 1;
EventSource_government = 2;
EventSource_meteorological = 3;
EventSource_internet = 4;
EventSource_detection = 5;
};
required EventSource event_source = 1;
}
message RSITimeDetails_PB{
//数值用来表示当前年份，已经过去的总分钟数（UTC时间）。
//其分辨率为1分钟。该数值配合DSecond数值，则可以表示以毫秒记的全年已过去的总时间。
//(0..527040)
optional int64 startTime = 1;
optional int64 endTime = 2;
optional TimeConfidence_PB endTimeConfidence = 3;
}
message TimeConfidence_PB {
//unavailable (0), -- Not Equipped or unavailable
//time-100-000 (1), -- Better than 100 Seconds
//time-050-000 (2), -- Better than 50 Seconds
//time-020-000 (3), -- Better than 20 Seconds
//time-010-000 (4), -- Better than 10 Seconds
//time-002-000 (5), -- Better than 2 Seconds
//time-001-000 (6), -- Better than 1 Second
//time-000-500 (7), -- Better than 0.5 Seconds
//time-000-200 (8), -- Better than 0.2 Seconds
//time-000-100 (9), -- Better than 0.1 Seconds
//time-000-050 (10), -- Better than 0.05 Seconds
//time-000-020 (11), -- Better than 0.02 Seconds
//time-000-010 (12), -- Better than 0.01 Seconds
//time-000-005 (13), -- Better than 0.005 Seconds
//time-000-002 (14), -- Better than 0.002 Seconds
//time-000-001 (15), -- Better than 0.001 Seconds
//-- Better than one millisecond
//time-000-000-5 (16), -- Better than 0.000,5 Seconds
//time-000-000-2 (17), -- Better than 0.000,2 Seconds
//time-000-000-1 (18), -- Better than 0.000,1 Seconds
//time-000-000-05 (19), -- Better than 0.000,05 Seconds
//time-000-000-02 (20), -- Better than 0.000,02 Seconds
//time-000-000-01 (21), -- Better than 0.000,01 Seconds
//time-000-000-005 (22), -- Better than 0.000,005 Seconds
//time-000-000-002 (23), -- Better than 0.000,002 Seconds
//time-000-000-001 (24), -- Better than 0.000,001 Seconds
//-- Better than one micro second
//time-000-000-000-5 (25), -- Better than 0.000,000,5 Seconds
//time-000-000-000-2 (26), -- Better than 0.000,000,2 Seconds
//time-000-000-000-1 (27), -- Better than 0.000,000,1 Seconds
//time-000-000-000-05 (28), -- Better than 0.000,000,05 Seconds
//time-000-000-000-02 (29), -- Better than 0.000,000,02 Seconds
//time-000-000-000-01 (30), -- Better than 0.000,000,01 Seconds
//time-000-000-000-005 (31), -- Better than 0.000,000,005 Seconds
//time-000-000-000-002 (32), -- Better than 0.000,000,002 Seconds
//time-000-000-000-001 (33), -- Better than 0.000,000,001 Seconds
//-- Better than one nano second
//time-000-000-000-000-5 (34), -- Better than 0.000,000,000,5 Seconds
//time-000-000-000-000-2 (35), -- Better than 0.000,000,000,2 Seconds
//time-000-000-000-000-1 (36), -- Better than 0.000,000,000,1 Seconds
//time-000-000-000-000-05 (37), -- Better than 0.000,000,000,05 Seconds
//time-000-000-000-000-02 (38), -- Better than 0.000,000,000,02 Seconds
//time-000-000-000-000-01 (39) -- Better than 0.000,000,000,01 Seconds
enum TimeConfidence {
TimeConfidence_unavailable = 0;
TimeConfidence_time_100_000 = 1;
TimeConfidence_time_050_000 = 2;
TimeConfidence_time_020_000 = 3;
TimeConfidence_time_010_000 = 4;
TimeConfidence_time_002_000 = 5;
TimeConfidence_time_001_000 = 6;
TimeConfidence_time_000_500 = 7;
TimeConfidence_time_000_200 = 8;
TimeConfidence_time_000_100 = 9;
TimeConfidence_time_000_050 = 10;
TimeConfidence_time_000_020 = 11;
TimeConfidence_time_000_010 = 12;
TimeConfidence_time_000_005 = 13;
TimeConfidence_time_000_002 = 14;
TimeConfidence_time_000_001 = 15;
TimeConfidence_time_000_000_5 = 16;
TimeConfidence_time_000_000_2 = 17;
TimeConfidence_time_000_000_1 = 18;
TimeConfidence_time_000_000_05 = 19;
TimeConfidence_time_000_000_02 = 20;
TimeConfidence_time_000_000_01 = 21;
TimeConfidence_time_000_000_005 = 22;
TimeConfidence_time_000_000_002 = 23;
TimeConfidence_time_000_000_001 = 24;
TimeConfidence_time_000_000_000_5 = 25;
TimeConfidence_time_000_000_000_2 = 26;
TimeConfidence_time_000_000_000_1 = 27;
TimeConfidence_time_000_000_000_05 = 28;
TimeConfidence_time_000_000_000_02 = 29;
TimeConfidence_time_000_000_000_01 = 30;
TimeConfidence_time_000_000_000_005 = 31;
TimeConfidence_time_000_000_000_002 = 32;
TimeConfidence_time_000_000_000_001 = 33;
TimeConfidence_time_000_000_000_000_5 = 34;
TimeConfidence_time_000_000_000_000_2 = 35;
TimeConfidence_time_000_000_000_000_1 = 36;
TimeConfidence_time_000_000_000_000_05 = 37;
TimeConfidence_time_000_000_000_000_02 = 38;
TimeConfidence_time_000_000_000_000_01 = 39;
};
optional TimeConfidence time_confidence = 1;
}
message ReferencePathList_PB {
//SIZE(1..8)
repeated ReferencePath_PB referencePath = 1;
}
message ReferenceLinkList_PB {
//(1-16)
repeated ReferenceLink_PB ReferenceLink = 1;
}
message RTSList_PB {
//定义道路交通标志集合。
//至少包含1个道路交通标志信息，最多包含16个
repeated RTSData_PB rtsData = 1;
}
message RTSData_PB {
//(0..255)
required int64 rtsId = 1;
// required SignType_PB signType=2;
required int32 signType = 2;
optional PositionOffsetLLV_PB signPos = 3;
optional String_PB description = 4;
optional RSITimeDetails_PB timeDetails = 5;
optional String_PB priority = 6;
optional ReferencePathList_PB referencePaths = 7;
optional ReferenceLinkList_PB referenceLinks = 8;
}
message ReferencePath_PB {
required PathPointList_PB activePath = 1;
//表示绝对值半径大小。
//分辨率为10 cm。
//(0..65535)
required int64 pathRadius = 2;
}
message PathPointList_PB {
//(1..32))
repeated PositionOffsetLLV_PB offsetLLV = 1;
}
message ReferenceLink_PB {
required NodeReferenceID_PB upstreamNodeId = 1;
required NodeReferenceID_PB downstreamNodeId = 2;
optional ReferenceLanes_PB referenceLanes = 3;
}
message NodeReferenceID_PB {
//0-65535
optional int64 region = 1;
//0-65535
required int64 id = 2;
}
message ReferenceLanes_PB {
enum ReferenceLanesType{
ReferenceLanesType_reserved = 0;
ReferenceLanesType_lane1 = 1;
ReferenceLanesType_lane2 = 2;
ReferenceLanesType_lane3 = 3;
ReferenceLanesType_lane4 = 4;
ReferenceLanesType_lane5 = 5;
ReferenceLanesType_lane6 = 6;
ReferenceLanesType_lane7 = 7;
ReferenceLanesType_lane8 = 8;
ReferenceLanesType_lane9 = 9;
ReferenceLanesType_lane10 = 10;
ReferenceLanesType_lane11 = 11;
ReferenceLanesType_lane12 = 12;
ReferenceLanesType_lane13 = 13;
ReferenceLanesType_lane14 = 14;
ReferenceLanesType_lane15 = 15;
};
required ReferenceLanesType lane = 1;
}
message RSI_PB {
required RoadSideInformation_PB rsiFrame = 1;
optional common.Header header = 2;
}
message VehicleClassification_PB {
required int32 classification = 1;
optional int32 fuelType = 2;
}
message MotionConfidenceSet_PB {
enum SpeedConfidence_PB {
SpeedConfidence_unavailable = 0;
SpeedConfidence_prec100ms = 1;
SpeedConfidence_prec10ms = 2;
SpeedConfidence_prec5ms = 3;
SpeedConfidence_prec1ms = 4;
SpeedConfidence_prec0_1ms = 5;
SpeedConfidence_prec0_05ms = 6;
SpeedConfidence_prec0_01ms = 7;
}
optional SpeedConfidence_PB speedCfd = 1;
enum HeadingConfidence_PB {
HeadingConfidence_unavailable = 0;
HeadingConfidence_prec10deg = 1;
HeadingConfidence_prec05deg = 2;
HeadingConfidence_prec01deg = 3;
HeadingConfidence_prec0_d1deg = 4;
HeadingConfidence_prec0_d05deg = 5;
HeadingConfidence_prec0_d01deg = 6;
HeadingConfidence_prec0_d0125deg = 7;
}
optional HeadingConfidence_PB headingCfd = 2;
enum SteeringWheelAngleConfidence_PB {
SteeringWheelAngleConfidence_unavailable = 0;
SteeringWheelAngleConfidence_prec2deg = 1;
SteeringWheelAngleConfidence_prec1deg = 2;
SteeringWheelAngleConfidence_prec0_02deg = 3;
}
optional SteeringWheelAngleConfidence_PB steerCfd = 3;
}
message TransmissionState_PB{
// neutral (0), -- Neutral
//park (1), -- Park
//forwardGears (2), -- Forward gears
//reverseGears (3), -- Reverse gears
//reserved1 (4),
//reserved2 (5),
//reserved3 (6),
//unavailable (7)-- not-equipped or unavailable value,
//-- Any related speed is relative to the vehicle reference frame used
enum TransmissionState{
TransmissionState_neutral = 1;
TransmissionState_park = 2;
TransmissionState_forwardGears = 3;
TransmissionState_reverseGears = 4;
TransmissionState_reserved1 = 5;
TransmissionState_reserved2 = 6;
TransmissionState_reserved3 = 7;
TransmissionState_unavailable = 8;
};
required TransmissionState transmission_state = 1;
}
message PositionConfidenceSet_PB {
enum PositionConfidence_PB {
PositionConfidence_unavailable = 0;
PositionConfidence_a500m = 1;
PositionConfidence_a200m = 2;
PositionConfidence_a100m = 3;
PositionConfidence_a50m = 4;
PositionConfidence_a20m = 5;
PositionConfidence_a10m = 6;
PositionConfidence_a5m = 7;
PositionConfidence_a2m = 8;
PositionConfidence_a1m = 9;
PositionConfidence_a50cm = 10;
PositionConfidence_a20cm = 11;
PositionConfidence_a10cm = 12;
PositionConfidence_a5cm = 13;
PositionConfidence_a2cm = 14;
PositionConfidence_a1cm = 15;
}
required PositionConfidence_PB poscon = 1;
enum ElevationConfidence_PB {
ElevationConfidence_unavailable = 0;
ElevationConfidence_elev_500_00 = 1;
ElevationConfidence_elev_200_00 = 2;
ElevationConfidence_elev_100_00 = 3;
ElevationConfidence_elev_050_00 = 4;
ElevationConfidence_elev_020_00 = 5;
ElevationConfidence_elev_010_00 = 6;
ElevationConfidence_elev_005_00 = 7;
ElevationConfidence_elev_002_00 = 8;
ElevationConfidence_elev_001_00 = 9;
ElevationConfidence_elev_000_50 = 10;
ElevationConfidence_elev_000_20 = 11;
ElevationConfidence_elev_000_10 = 12;
ElevationConfidence_elev_000_05 = 13;
ElevationConfidence_elev_000_02 = 14;
ElevationConfidence_elev_000_01 = 15;
}
optional ElevationConfidence_PB elevationCon = 2;
}
message SourceType_PB{
//定义交通参与者数据的来源。包括以下类型：
//——unknown：未知数据源类型；
//——selfinfo：RSU 自身信息；
//——v2x：来源于参与者自身的 v2x 广播消息；
//——video：来源于视频传感器；
//——microwaveRadar：来源于微波雷达传感器；
//——loop：来源于地磁线圈传感器；
//——lidar：来源于激光雷达传感器；
//——integrated：2 类或以上感知数据的融合结果。
enum SourceType{
SourceType_unknown = 1;
SourceType_selfinfo = 2;
SourceType_v2x = 3;
SourceType_video = 4;
SourceType_microwaveRadar = 5;
SourceType_loop = 6;
SourceType_lidar = 7;
SourceType_integrated = 8;
};
required SourceType source_type = 1;
}
message ParticipantData_PB{
//ptcType ParticipantType,
//ptcId INTEGER (0..65535),
//-- temporary ID set by RSU
//-- 0 is RSU itself
//-- 1..255 represent participants detected by RSU
//-- ptcId of different participant needs to be unique in RSU
//source SourceType,
//id OCTET STRING (SIZE(8)) OPTIONAL,
//-- temperary vehicle ID from BSM
//secMark DSecond,
//pos PositionOffsetLLV,
//posConfidence PositionConfidenceSet,
//transmission TransmissionState OPTIONAL,
//speed Speed,
//heading Heading,
//angle SteeringWheelAngle OPTIONAL,
//motionCfd MotionConfidenceSet OPTIONAL,
//accelSet AccelerationSet4Way OPTIONAL,
//size VehicleSize,
//-- Size of participant including motor/non-motor/pedestrian/rsu
//-- is represented by DE_VehilceSize
//vehicleClass VehicleClassification OPTIONAL,
// required ParticipantType_PB ptcType = 1;
required int64 ptcType = 1;
required int32 ptcId = 2;//不同参与者的ptcId在RSU中需要是唯一的,
required SourceType_PB source = 3;
optional String_PB id = 4; // 车的临时id,跟BSM消息一致
/* DSecond */ //1分钟内的毫秒级时刻分辨率为1毫秒，有效范围时0~59999.60000及以上表示未知或无效数值
required int64 secMark = 5;
required PositionOffsetLLV_PB pos = 6; // 中心位置
required PositionConfidenceSet_PB posConfidence = 7;
optional TransmissionState_PB transmission = 8; // 车辆挡位
//速度 0.02m/s
required int32 speed = 9;
//航向角
required int32 heading = 10;
//SteeringWheelAngle_t 方向盘转角(-126..127)
optional int32 angle = 11;
optional MotionConfidenceSet_PB motionCfd = 12;
optional AccelerationSet4Way_PB accelSet = 13;
required VehicleSize_PB size = 14;
optional VehicleClassification_PB vehicleClass = 15;
}
message ParticipantList_PB{
// 定义交通参与者列表。应用于RSM消息中，表示RSU当前探测到的所有或者部分交通参与者信息
// size 为1-16个
repeated ParticipantData_PB participantData = 1;
}
message RoadsideSafetyMessage_PB {
/* MsgCount */
//发送方为自己发送的同类消息,依次进行编号。编号数值为 0 ~ 127。
//当发送方开始发起某一类数据时,它可以随机选择起始编号,随后依次递增。发送方也可以在
//连续发送相同的数据帧时,选择使用相同的 MsgCount 消息编号。编号到达 127 后,则下一个回到 0。
required int64 msgCnt = 1;
required String_PB id = 2; //RSU_ID
required Position3D_PB refPos = 3; // 三维坐标
required ParticipantList_PB participants = 4; //交通参与者信息
}
message RSM_PB {
required RoadsideSafetyMessage_PB rsmFrame = 1;
optional common.Header header = 2;
}

11
libraries/mogo-adas-data/src/main/proto/road_overview_events.proto Normal file
View File

@@ -0,0 +1,11 @@
syntax = "proto3";
package mogo.v2x;
message RoadOverviewData {
uint64 msgId = 1; // 消息ID
uint64 timestamp = 2; //unix时间戳
bytes constructData= 3; //施工 RSI_PB
bytes triangleData= 4; //三角牌 RSI_PB
bytes congestionData= 5; //拥堵 RSI_PB
bytes parkingViolationData= 6; //违停 ---包含 静态障碍车 RSM_PB
}

23
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -5,12 +5,15 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
import bag_manager.BagManagerOuterClass;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.MogoV2X;
import mogo.v2x.RoadOverviewEvents;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
@@ -261,6 +264,26 @@ public interface OnAdasListener {
*/
void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager);
/**
* 主车附近事件推送
*
* @param header 头
* @param rsi 数据
*/
void onV2nCongestionEvent(@NotNull MessagePad.Header header, @NotNull MogoV2X.RSI_PB rsi);
/**
* 主车路径全局事件推送
*
* @param header 头
* @param roadOverview 主车路径全局事件推送
* @param construct 施工
* @param triangle 三角牌
* @param congestion 拥堵
* @param parkingViolation 违停 ---包含 静态障碍车
*/
void onV2nGlobalPathEvents(@NotNull MessagePad.Header header, @NotNull RoadOverviewEvents.RoadOverviewData roadOverview, @Nullable MogoV2X.RSI_PB construct, @Nullable MogoV2X.RSI_PB triangle, @Nullable MogoV2X.RSI_PB congestion, MogoV2X.RSM_PB parkingViolation);
/**
* 是否有能力启动自动驾驶
*

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -60,6 +60,8 @@ public enum MessageType {
TYPE_RECEIVE_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理应答"),
TYPE_SEND_PLANNING_CMD(MessagePad.MessageType.MsgTypePlanningCmd, "给Planning指令"),
TYPE_SEND_SET_PARAM_REQ_V2(MessagePad.MessageType.MsgTypeSetParamReqV2, "设置参数命令V2"),
TYPE_RECEIVE_V2N_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nCongestionEvent, "主车附近事件推送"),
TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS(MessagePad.MessageType.MsgTypeV2nGlobalPathEvents, "主车路径全局事件推送"),
//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"),

14
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -38,6 +38,8 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg bagManagerMessage;//Bag管理应答
private IMsg backCameraVideoMessage;//清扫车后摄像头
private IMsg pointCloudMessage;//3D点云
private IMsg v2nCongestionEventMessage;//主车附近事件推送
private IMsg v2nGlobalPathEventsMessage;//主车路径全局事件推送
private final AutopilotReview autopilotReview;
@@ -197,6 +199,18 @@ public class MyMessageFactory implements IMyMessageFactory {
backCameraVideoMessage = new BackCameraVideoMessage();
}
return backCameraVideoMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_V2N_CONGESTION_EVENT.typeCode) {
//主车附近事件推送
if (v2nCongestionEventMessage == null) {
v2nCongestionEventMessage = new V2nCongestionEventMessage();
}
return v2nCongestionEventMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS.typeCode) {
//主车路径全局事件推送
if (v2nGlobalPathEventsMessage == null) {
v2nGlobalPathEventsMessage = new V2nGlobalPathEventsMessage();
}
return v2nGlobalPathEventsMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;

31
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nCongestionEventMessage.java Normal file
View File

@@ -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.v2x.MogoV2X;
/**
* 主车附近事件推送
*/
public class V2nCongestionEventMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
MogoV2X.RSI_PB rsi = MogoV2X.RSI_PB.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("主车附近事件推送", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onV2nCongestionEvent(raw.getHeader(), rsi);
}
AdasChannel.calculateTimeConsumingBusiness("主车附近事件推送", nowTime);
}
}

57
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nGlobalPathEventsMessage.java Normal file
View File

@@ -0,0 +1,57 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import com.google.protobuf.ByteString;
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.v2x.MogoV2X;
import mogo.v2x.RoadOverviewEvents;
/**
* 主车路径全局事件推送
*/
public class V2nGlobalPathEventsMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
RoadOverviewEvents.RoadOverviewData roadOverview = RoadOverviewEvents.RoadOverviewData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
MogoV2X.RSI_PB construct = null;
MogoV2X.RSI_PB triangle = null;
MogoV2X.RSI_PB congestion = null;
MogoV2X.RSM_PB parkingViolation = null;
//施工 RSI_PB
ByteString constructData = roadOverview.getConstructData();
if (!constructData.isEmpty()) {
construct = MogoV2X.RSI_PB.parseFrom(constructData);
}
//三角牌 RSI_PB
ByteString triangleData = roadOverview.getTriangleData();
if (!triangleData.isEmpty()) {
triangle = MogoV2X.RSI_PB.parseFrom(triangleData);
}
//拥堵 RSI_PB
ByteString congestionData = roadOverview.getCongestionData();
if (!congestionData.isEmpty()) {
congestion = MogoV2X.RSI_PB.parseFrom(congestionData);
}
//违停 ---包含 静态障碍车 RSM_PB
ByteString parkingViolationData = roadOverview.getParkingViolationData();
if (!parkingViolationData.isEmpty()) {
parkingViolation = MogoV2X.RSM_PB.parseFrom(parkingViolationData);
}
AdasChannel.calculateTimeConsumingOnDispatchRaw("主车路径全局事件推送", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onV2nGlobalPathEvents(raw.getHeader(), roadOverview, construct, triangle, congestion, parkingViolation);
}
AdasChannel.calculateTimeConsumingBusiness("主车路径全局事件推送", nowTime);
}
}