添加8.8感知目标物

src/main/java/com/cusc/adas/v2x/assist/dto/PerceptualDto.java

+package com.cusc.adas.v2x.assist.dto;
+
+import com.cusc.adas.v2x.utils.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.FilterInfo;
+import com.cusc.adas.v2x.vo.TrajectoryInfo;
+
+import java.util.List;
+
+/****感知目标物**/
+public class PerceptualDto {
+    //唯一编号
+    @Order(1)
+    private String uuid;
+    //目标编号
+    @Order(2)
+    private int objId;
+    //目标类型
+    @Order(3)
+
+    private short type;
+
+    //目标状态
+    @Order(4)
+    private short status;
+
+    //目标长度 单位：cm
+    @Order(5)
+    @OffsetDef(value = 0.01)
+    private int len;
+
+    //目标宽度 单位：cm
+    @Order(6)
+    @OffsetDef(value = 0.01)
+    private int width;
+
+    //目标高度 单位：cm
+    @Order(7)
+    @OffsetDef(value = 0.01)
+    private int height;
+    //经度
+    @Order(8)
+    @OffsetDef(value=0.0000001,minValidLength=10)
+    private double longitude;
+    //纬度
+    @Order(9)
+    @OffsetDef(value=0.00000001,minValidLength=10)
+    private double latitude;
+
+    //东西向距离 单位：cm
+    @Order(10)
+    @OffsetDef(value = 0.01)
+    private long locEast;
+    //南北向距离  单位：cm
+    @Order(11)
+    @OffsetDef(value = 0.01)
+    private long locNorth;
+    //位置精度等级
+    @Order(12)
+    private short posConfidence;
+    //高程 单位：dm
+    @Order(13)
+    @OffsetDef(value = 0.1)
+    private long elevation;
+    //高程精度
+    @Order(14)
+    private short elevConfidence;
+    //速度 ，单位：0.01 m/s
+    @Order(15)
+    @OffsetDef(value = 0.036)
+    private float speed;
+    //速度精度等级
+    @Order(16)
+    private short speedConfidence;
+    //东西向速度 cm/s
+    @Order(17)
+    @OffsetDef(value = 0.0036)
+    private float speedEast;
+    //东西向速度精 度等级
+    @Order(18)
+    private short speedEastConfidence;
+    //南北向速度 cm/s，
+    @Order(19)
+    @OffsetDef(value = 0.0036)
+    private float speedNorth;
+    //南北向速度精 度等级
+    @Order(20)
+    private short speedNorthConfidence;
+
+    //航向角
+    @Order(21)
+    @OffsetDef(value=0.0001,minValidLength=7)
+    private double heading;
+
+    //航向精度等级
+    @Order(22)
+    private short headConfidence;
+
+    //目标纵向加速 度 单位：0.01m/
+    @Order(23)
+    @OffsetDef(value = 0.036)
+    private float accelVert;
+    //目标纵向加速 度置精度等级
+    @Order(24)
+    private short accelVertConfidence;
+    //目标跟踪时长 单位：毫秒
+    @Order(25)
+    private long trackedTimes;
+    //目标历史轨迹 数量
+    @Order(26)
+    private int histLocNum;
+    //目标历史轨迹 列表
+    @Order(27)
+    private List<TrajectoryInfo> histLocs;
+    //目标预测轨迹 数量
+    @Order(28)
+    private int predLocNum;
+    //目标预测轨迹 列表
+    @Order(29)
+    private List<TrajectoryInfo> predLocs;
+
+    //目标所在车道编号
+    @Order(30)
+    private short laneId;
+    //滤波信息的类型
+    @Order(31)
+    private short filterInfoType;
+    //卡尔曼滤波信息
+    @Order(32)
+    private List<FilterInfo> filterInfo;
+    //车牌号字节数
+    @Order(33)
+    private short plateNoLen;
+    //车牌号
+    @Order(34)
+    private byte[] plateNo;
+
+    //车牌类型
+    @Order(35)
+    private short plateType;
+
+    //车牌颜色
+    @Order(36)
+    private short plateColor;
+
+    //车身颜色
+    @Order(37)
+    private short vehicleColor;
+
+}

src/main/java/com/cusc/adas/v2x/assist/dto/PerceptualInfoDto.java

+package com.cusc.adas.v2x.assist.dto;
+
+import java.util.List;
+
+/*** CLOUD2VEH_ASTFUNC_RSM 云端下发实时感知信息	11 **/
+public class PerceptualInfoDto {
+
+    //数据源
+
+    private short source;
+    //    感知目标个数
+
+    private int objNum;
+    //感知目标数据
+
+    private List<PerceptualDto> detectionData;
+
+    public List<PerceptualDto> getDetectionData() {
+        return detectionData;
+    }
+
+}

src/main/java/com/cusc/adas/v2x/assist/dto/TrafficLightStatusDto.java

@@ -23,6 +23,9 @@ public class TrafficLightStatusDto {
 	//灯组类型
 	private  short lightType;
 
+	public void setLightState(short lightState) {
+		this.lightState = lightState;
+	}
 
 	public short getLightState() {
 		return lightState;
@@ -32,10 +35,6 @@ public class TrafficLightStatusDto {
 		return timeLeft;
 	}
 
-	public void setNextLightState(short nextLightState) {
-		this.nextLightState = nextLightState;
-	}
-
 	public short getNextLightState() {
 		return nextLightState;
 	}

src/main/java/com/cusc/adas/v2x/assist/vo/AssistMessageBody.java

@@ -5,6 +5,7 @@ import com.cusc.adas.v2x.utils.DynamicsClassDef;
 import com.cusc.adas.v2x.utils.FieldDef;
 import com.cusc.adas.v2x.utils.Order;
 
+/****8.8   云端辅助功能信息及返回**/
 public class AssistMessageBody<T> {
 	//车辆编号
 	@Order(1)

src/main/java/com/cusc/adas/v2x/assist/vo/Perceptual.java

+package com.cusc.adas.v2x.assist.vo;
+
+import com.cusc.adas.v2x.utils.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.FilterInfo;
+import com.cusc.adas.v2x.vo.TrajectoryInfo;
+
+import java.util.List;
+
+/****感知目标物**/
+public class Perceptual {
+    //唯一编号
+    @Order(1)
+    private short[] uuid;
+    //目标编号
+    @Order(2)
+    private int objId;
+    //目标类型
+    @Order(3)
+
+    private short type;
+
+    //目标状态
+    @Order(4)
+    private short status;
+
+    //目标长度 单位：cm
+    @Order(5)
+    @OffsetDef(value = 0.01)
+    private int len;
+
+    //目标宽度 单位：cm
+    @Order(6)
+    @OffsetDef(value = 0.01)
+    private int width;
+
+    //目标高度 单位：cm
+    @Order(7)
+    @OffsetDef(value = 0.01)
+    private int height;
+    //经度
+    @Order(8)
+    @OffsetDef(value=0.0000001,minValidLength=10)
+    private long longitude;
+    //纬度
+    @Order(9)
+    @OffsetDef(value=0.00000001,minValidLength=10)
+    private long latitude;
+
+    //东西向距离 单位：cm
+    @Order(10)
+    @OffsetDef(value = 0.01)
+    private long locEast;
+    //南北向距离  单位：cm
+    @Order(11)
+    @OffsetDef(value = 0.01)
+    private long locNorth;
+    //位置精度等级
+    @Order(12)
+    private short posConfidence;
+    //高程 单位：dm
+    @Order(13)
+    @OffsetDef(value = 0.1)
+    private long elevation;
+    //高程精度
+    @Order(14)
+    private short elevConfidence;
+    //速度 ，单位：0.01 m/s
+    @Order(15)
+    @OffsetDef(value = 0.036)
+    private int speed;
+    //速度精度等级
+    @Order(16)
+    private short speedConfidence;
+    //东西向速度 cm/s
+    @Order(17)
+    @OffsetDef(value = 0.0036)
+    private int speedEast;
+    //东西向速度精 度等级
+    @Order(18)
+    private short speedEastConfidence;
+    //南北向速度 cm/s，
+    @Order(19)
+    @OffsetDef(value = 0.0036)
+    private int speedNorth;
+    //南北向速度精 度等级
+    @Order(20)
+    private short speedNorthConfidence;
+
+    //航向角
+    @Order(21)
+    @OffsetDef(value=0.0001,minValidLength=7)
+    private long heading;
+
+    //航向精度等级
+    @Order(22)
+    private short headConfidence;
+
+    //目标纵向加速 度 单位：0.01m/
+    @Order(23)
+    @OffsetDef(value = 0.036)
+    private int accelVert;
+    //目标纵向加速 度置精度等级
+    @Order(24)
+    private short accelVertConfidence;
+    //目标跟踪时长 单位：毫秒
+    @Order(25)
+    private long trackedTimes;
+    //目标历史轨迹 数量
+    @Order(26)
+    private int histLocNum;
+    //目标历史轨迹 列表
+    @Order(27)
+    private List<TrajectoryInfo> histLocs;
+    //目标预测轨迹 数量
+    @Order(28)
+    private int predLocNum;
+    //目标预测轨迹 列表
+    @Order(29)
+    private List<TrajectoryInfo> predLocs;
+
+    //目标所在车道编号
+    @Order(30)
+    private short laneId;
+    //滤波信息的类型
+    @Order(31)
+    private short filterInfoType;
+    //卡尔曼滤波信息
+    @Order(32)
+    private List<FilterInfo> filterInfo;
+    //车牌号字节数
+    @Order(33)
+    private short plateNoLen;
+    //车牌号
+    @Order(34)
+    private byte[] plateNo;
+
+    //车牌类型
+    @Order(35)
+    private short plateType;
+
+    //车牌颜色
+    @Order(36)
+    private short plateColor;
+
+    //车身颜色
+    @Order(37)
+    private short vehicleColor;
+
+}

src/main/java/com/cusc/adas/v2x/assist/vo/PerceptualInfo.java

+package com.cusc.adas.v2x.assist.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
+
+import java.util.List;
+
+/*** CLOUD2VEH_ASTFUNC_RSM 云端下发实时感知信息	11 **/
+public class PerceptualInfo {
+
+    //数据源
+    @Order(1)
+    private short source;
+    //    感知目标个数
+    @Order(2)
+    private int objNum;
+    //感知目标数据
+    @Order(3)
+    @RefNumFlag(value = "objNum")
+    private List<Perceptual> detectionData;
+
+    public List<Perceptual> getDetectionData() {
+        return detectionData;
+    }
+
+}

src/main/java/com/cusc/adas/v2x/vo/DynamicsClassMap.java

 package com.cusc.adas.v2x.vo;
 
+import com.cusc.adas.v2x.assist.dto.PerceptualInfoDto;
 import com.cusc.adas.v2x.assist.dto.TrafficLightDto;
+import com.cusc.adas.v2x.assist.vo.PerceptualInfo;
 import com.cusc.adas.v2x.assist.vo.TrafficLight;
 import com.cusc.adas.v2x.clouddecision.dto.AbnormalVehicleDto;
 import com.cusc.adas.v2x.clouddecision.dto.AutoSpeedLimitDto;
@@ -25,7 +27,7 @@ public class DynamicsClassMap {
     static {
         Map<Short, Class> cloundDecisionsubMap = new HashMap<>();
 
-        // 参考 adviceType 列表定义
+        // 参考 adviceType 列表定义  8.5   云端决策建议信息及返回
         cloundDecisionsubMap.put((short) 1, TrafficLightInfo.class);//信号灯路口车速引导功能指令
         cloundDecisionsubMap.put((short) 5, AutoSpeedLimit.class);//动态车道级限速指令
         cloundDecisionsubMap.put((short) 9, FawWarnning.class);//前向碰撞预警
@@ -34,11 +36,13 @@ public class DynamicsClassMap {
         cloundDecisionsubMap.put((short) 17, RSIWarnning.class);//通用 RSI 预警
         map.put("CloudDecision", cloundDecisionsubMap);
 
+        // 8.8   云端辅助功能信息及返回
         Map<Short, Class> assistSubMap = new HashMap<>();
         assistSubMap.put((short) 7, TrafficLight.class);//云端下发信号灯信息数据
+        assistSubMap.put((short) 11, PerceptualInfo.class);//云端下发实时感知信息（CLOUD2VEH_ASTFUNC_RSM）
         map.put("assist", assistSubMap);
 
-        // 参考 adviceType 列表定义
+        //Android Dto   参考 adviceType 列表定义
         Map<Short, Class> cloundDecisionsubMapDto = new HashMap<>();
         cloundDecisionsubMapDto.put((short) 1, TrafficLightInfoDto.class);//信号灯路口车速引导功能指令
         cloundDecisionsubMapDto.put((short) 5, AutoSpeedLimitDto.class);//动态车道级限速指令
@@ -46,10 +50,11 @@ public class DynamicsClassMap {
         cloundDecisionsubMapDto.put((short) 11, AbnormalVehicleDto.class);//异常车辆预警
         cloundDecisionsubMapDto.put((short) 13, EmergencyVehicleDto.class);//紧急车辆预警
         cloundDecisionsubMapDto.put((short) 17, RSIWarnningDto.class);//通用 RSI 预警
-        //Android Dto
+
         mapDto.put("CloudDecision", cloundDecisionsubMapDto);
         Map<Short, Class> assistSubMapDto = new HashMap<>();
         assistSubMapDto.put((short) 7, TrafficLightDto.class);//云端下发信号灯信息数据
+        assistSubMapDto.put((short) 11, PerceptualInfoDto.class);//云端下发实时感知信息（CLOUD2VEH_ASTFUNC_RSM）
         mapDto.put("assist", assistSubMapDto);
 
     }

src/main/java/com/cusc/adas/v2x/vo/FilterInfo.java

 package com.cusc.adas.v2x.vo;
 
+import com.cusc.adas.v2x.utils.Order;
+
 import java.util.List;
 
 /**
@@ -8,10 +10,15 @@ import java.util.List;
  *
  */
 public class FilterInfo {
+	@Order(1)
 	private int dimension; // 状态量协方差矩阵的维度
+	@Order(2)
     private List<Integer> varNIndex; // 状态量所在序号列表
+	@Order(3)
     private List<Cov> covs; // 卡尔曼滤波的更新步骤得到的状态量协方差矩阵
+	@Order(4)
     private List<Cov> covsPred; // 卡尔曼滤波预测步骤得到的状态量协方差矩阵
+	@Order(5)
     private List<Cov> varsPred; // 卡尔曼滤波预测步骤得到的状态量
 	public int getDimension() {
 		return dimension;

src/main/java/com/cusc/adas/v2x/vo/VehicleInfo.java

@@ -34,6 +34,7 @@ public class VehicleInfo {
     @Order(5)
     private Position position;
 
+    //航向角
     /****[0..3600000]，正北方向顺时针旋转至与车辆当前运动方向重合所转 过的角度，单位为 1e-4 ° , 不可缺省，0xFFFFFFFF 表示异常**/
     @Order(6)
     @OffsetDef(value=0.0001,minValidLength=7)