添加DTO对象

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

@@ -2,6 +2,8 @@ package com.cusc.adas.v2x.assist.vo;
 
 import java.util.List;
 
+import com.cusc.adas.v2x.utils.DependencyDef;
+import com.cusc.adas.v2x.utils.DynamicsClassDef;
 import com.cusc.adas.v2x.utils.FieldDef;
 import com.cusc.adas.v2x.utils.Order;
 
@@ -26,6 +28,8 @@ public class AssistMessageBody<T> {
 	
 	//命令数据
 	@Order(5)
-	private List<T> infoData;
+	@DynamicsClassDef(classtype="assist")
+	@DependencyDef(value="astFuncType")
+	private T infoData;
 	
 }

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

@@ -24,7 +24,7 @@ public class TrafficLight {
 	
 	//车辆所在车道 对应信号灯相 位数量
 	@Order(4)
-	private  int numOfLanePhase;
+	private  short numOfLanePhase;
 	//车辆所在车道 对应信号灯相 位 ID 列表
 	@Order(5)
 	@RefNumFlag(value="numOfLanePhase")

src/main/java/com/cusc/adas/v2x/clouddecision/vo/AutoSpeedLimit.java

@@ -14,6 +14,7 @@ import com.cusc.adas.v2x.utils.RefNumFlag;
 import com.cusc.adas.v2x.vo.Position;
 import com.cusc.adas.v2x.vo.SpeedLimit;
 
+
 public class AutoSpeedLimit {
 	//事件唯一标识
 	@Order(1)
@@ -41,7 +42,7 @@ public class AutoSpeedLimit {
 	@Order(7)
 	private short laneNum;
 	//限速数据
-	@Order(1)
+	@Order(8)
 	@RefNumFlag(value="laneNum")
 	private List<SpeedLimit> speedLmt;
 	

src/main/java/com/cusc/adas/v2x/clouddecision/vo/CloudDecisionMessageBody.java

@@ -2,9 +2,12 @@ package com.cusc.adas.v2x.clouddecision.vo;
 
 import java.util.List;
 
+import com.cusc.adas.v2x.utils.DependencyDef;
+import com.cusc.adas.v2x.utils.DynamicsClassDef;
 import com.cusc.adas.v2x.utils.FieldDef;
 import com.cusc.adas.v2x.utils.OffsetDef;
 import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
 
 /**
  * 云端决策建议信息报文体
@@ -32,12 +35,12 @@ public class CloudDecisionMessageBody<T> {
 	
 	//车速建议 单位：0.01m/s
 	@Order(5)
-	@OffsetDef(value=36,type=2)
+	@OffsetDef(value=0.036,type=2)
 	private int spdExp;
 	
 	//加速度建议 单位：0.01  m/s2，数据偏移量 100，表示-100.00m/s2～100.00m/s2
 	@Order(6)
-	@OffsetDef(value=36,type=2)
+	@OffsetDef(value=0.036,type=2)
 	private int accExp;
 	
 	//控车变道建 议转向状态 0：沿车道行驶；1：第一出口；2：第二出口；
@@ -50,5 +53,8 @@ public class CloudDecisionMessageBody<T> {
 	private int dataLen;
 	//命令数据 长度为 N 个字节，其中 N 为命令长度
 	@Order(9)
-	private List<T> adviceData;
+	@DynamicsClassDef(classtype="CloudDecision")
+	@DependencyDef(value="adviceType")
+	
+	private T adviceData;
 }

src/main/java/com/cusc/adas/v2x/clouddecision/vo/CloundDecisionEnum.java

+package com.cusc.adas.v2x.clouddecision.vo;
+
+public enum CloundDecisionEnum {
+
+}

src/main/java/com/cusc/adas/v2x/clouddecision/vo/FawWarnning.java

@@ -25,7 +25,7 @@ public class FawWarnning {
 	
 	//告警类型 固定值为 6518
 	@Order(3)
-	private int alertType;
+	private int alertType=6518;
 	//告警半径 单位：dm
 	@Order(4)
 	@OffsetDef(value=10)

src/main/java/com/cusc/adas/v2x/clouddecision/vo/LaneAdviceSpeed.java

@@ -12,19 +12,19 @@ public class LaneAdviceSpeed {
 	
 	//车速上限 单位：0.01 m/s
 	@Order(1)
-	@OffsetDef(value=36,type=2)
+	@OffsetDef(value=0.036,type=2)
 	private int spdMax;
 	//车速下限 单位：0.01 m/s
 	@Order(2)
-	@OffsetDef(value=36,type=2)
+	@OffsetDef(value=0.036,type=2)
 	private int spdMin;
 	//建议车速 单位：0.01 m/s
 	@Order(3)
-	@OffsetDef(value=36,type=2)
+	@OffsetDef(value=0.036,type=2)
 	private int spdExp;
 	//通行行为 单位：0.01 m/s
 	@Order(4)
-	@OffsetDef(value=36,type=2)
+	@OffsetDef(value=0.036,type=2)
 	private short maneuver;
 	//绿灯通过前方 路口数量  车辆绿灯通过前方路口数量，其中 0 表示无法绿灯通过前 方路口
 	@Order(5)

src/main/java/com/cusc/adas/v2x/clouddecision/vo/RelSetp.java

 package com.cusc.adas.v2x.clouddecision.vo;
 
+import java.util.List;
+
 import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
 
 /**
  * 关联路段
@@ -23,6 +26,7 @@ public class RelSetp {
 	
 	//受影响车道
 	@Order(4)
-	private short referenceLanes;
+	@RefNumFlag(value="referenceLanesNum")
+	private List<Short> referenceLanes;
 	
 }

src/main/java/com/cusc/adas/v2x/clouddecision/vo/TrafficLightInfo.java

+package com.cusc.adas.v2x.clouddecision.vo;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
+
+/**
+ * 信号灯路口车速引导
+ * @author huangml
+ *
+ */
+public class TrafficLightInfo {
+	//事件唯一标识
+	@Order(1)
+	@FieldDef(type="BYTE",isArray=true,length=36)
+	private String  uuid;
+	//事件生成时间 戳
+	@Order(2)
+	@FieldDef(type="TIMESTAMP",isArray=false,length=8)
+	private long  timestamp;
+	//告警类型 固定值为 6523
+	@Order(3)
+	private int alertType=6523;
+	//有效标识 0：失效；1：有效
+	@Order(4)
+	private short valid;
+	//命令标识 0：失效；1：引导；2：停车指令；3：启动指令
+	@Order(5)
+	private short type;
+	//车辆所在位置 到停止线距离 单位：0.01m
+	@Order(6)
+	private int d2StopLine;
+	//车道方向建议 速度组数 0 表示无效，不发送车道方向建议车速数据
+	@Order(7)
+	private short spdExpNum;
+	//车道方向建议 速度 
+	@Order(8)
+	@RefNumFlag(value="spdExpNum")
+	private List<LaneAdviceSpeed> spdExps;
+	//车速上限
+	@Order(9)
+	private int spdMax;
+	//车速下限
+	@Order(10)
+	private int spdMin;
+	//建议车速
+	@Order(11)
+	private int  spdExp;
+	//通行行为
+	private short maneuver;
+	//绿灯通过前方路口数量
+	private short  numIntersection;
+}

src/main/java/com/cusc/adas/v2x/dto/AutomaticDriveInfoDto.java

+package com.cusc.adas.v2x.dto;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.NumFlag;
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
+
+/**
+ * 车辆自动驾驶信息
+ * @author huangml
+ *
+ */
+public class AutomaticDriveInfoDto {
+	//执行云端控制命令编号
+	@Order(1)
+	private  long  cloudMessageId;
+	//自动驾驶需求加速度
+	@Order(2)
+	private  int accelCmd;
+	//自动驾驶需求扭矩
+	@Order(3)
+	private  long torqueCmd;
+	//自动驾驶需求速度
+	@Order(4)
+	private  int velocityCmd;
+	//规划-位置点轨 迹数量
+	@Order(5)
+	@NumFlag
+	private  int planningLocNum;
+	//规划-位置点轨 迹列表
+	@Order(6)
+	@RefNumFlag(value="planningLocNum")
+	private List<TracePointDto> planningLocs;
+	//决策-换道
+	@Order(7)
+	private short decisionLaneChange;
+	//加减速
+	@Order(8)
+	private short decisionAccel;
+	//决策-转向
+	@Order(9)
+	private short decisionTurnSignal;
+	
+	//决策-车辆状态
+	@Order(10)
+	private short  decisionVehicleStatus;
+	
+	//感知目标个数
+	@Order(11)
+	@NumFlag
+	private short   detectionLen;
+	
+	//感知目标数据
+	@RefNumFlag(value="detectionLen")
+	@Order(12)
+	private List<TrajectoryInfoDto> detectionData;
+	//自动驾驶系统故障
+	@Order(13)
+	private int autoDrivingSysFault;
+	
+	//电子手刹状态
+	@Order(14)
+	private short epbFlag;
+	//自定义字段长度
+	@Order(15)
+	private short userdefinedDataLength;
+	//自定义字段内容
+	@Order(16)
+	private byte[] userdefinedData;
+	
+}

src/main/java/com/cusc/adas/v2x/dto/TrajectoryInfoDto.java

+package com.cusc.adas.v2x.dto;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 
+ * @author huangml
+ *
+ */
+public class TrajectoryInfoDto {
+	//位置
+	@Order(1)
+	private Position2DDto position ;
+	//位置精度等级
+	@Order(2)
+	private short posConfidence;
+	//速度
+	@Order(3)
+	private int speed;
+	//速度精度等级
+	@Order(4)
+	private short speedConfidence;
+	//航向角
+	@Order(5)
+	private long  heading;
+	//航向精度等级
+	@Order(6)
+	private short headConfidence;
+	
+	
+	
+}

src/main/java/com/cusc/adas/v2x/dto/VehicleBodyDto.java

 package com.cusc.adas.v2x.dto;
 
+import com.cusc.adas.v2x.vo.AutomaticDriveInfo;
+import com.cusc.adas.v2x.vo.VehicleStatusInfo;
+
 public class VehicleBodyDto {
+	
 	private VehicleInfoDto vehicleInfo;
+	
+	private VehicleStatusInfo vehicleStatusInfo;
+	
+	private  AutomaticDriveInfo automaticDriveInfo;
 
 	public VehicleInfoDto getVehicleInfo() {
 		return vehicleInfo;
 	}
+	
+	
 
 }

src/main/java/com/cusc/adas/v2x/dto/VehicleStatusInfoDto.java

+package com.cusc.adas.v2x.dto;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.NumFlag;
+import com.cusc.adas.v2x.utils.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
+
+/**
+ * 车辆辅助驾驶信息及状态信息
+ * @author huangml
+ *
+ */
+public class VehicleStatusInfoDto {
+	@Order(1)
+	//ABS 状态
+	private short absFlag;
+	//TCS 状态
+	@Order(2)
+	private short tcsFlag;
+	//ESP 状态
+	@Order(3)
+	private short espFlag;
+	//LKA 状态
+	@Order(4)
+	private short lkaFlag;
+	//ACC 工作模式
+	@Order(5)
+	private short accMode;
+	//FCW 状态
+	@Order(6)
+	private short fcwFlag;
+	//LDW 状态
+	@Order(7)
+	private short ldwFlag;
+	//AEB 状态
+	@Order(8)
+	private short aebFlag;
+	//LCA 状态
+	@Order(9)
+	private short lcaFlag;
+	//DMS 状态
+	@Order(10)
+	private short dmsFlag;
+	//里程
+	@Order(11)
+	private long mileage;
+	//sweeping状态
+	@Order(12)
+	private short sweepingFlag;
+	//watering状态
+	@Order(13)
+	private short wateringFlag;
+	// 车辆运行状态数据 2-车辆辅助驾驶系统信息及其他状态信息数据结构（续)
+	//油量 对应车辆油量表读数，单位：0.1 L，
+	@Order(14)
+	
+	private int fuelGauge;
+	//电池剩余电量 0.01%，
+	@Order(15)
+
+	private int soc;
+	//电池温度 [0..200]，单位：摄氏度（℃），
+	//数据偏移量 100，表示-100℃～100℃ ，0xFF 表示缺省
+	@Order(16)
+	private short temperature;
+	
+	//预计续航里程 单位：千米（km），
+	@Order(17)
+	private long endurance;
+	
+	//车辆故障状态
+	@Order(18)
+	private int vehFault;
+	
+	//电机转速
+	@Order(19)
+	private int motorspeed;
+	//电机转矩
+	@Order(20)
+	private long motortorque;
+	//运行模式 车辆运行模式，1：纯电驱动模式；2：混合驱动 模式；3：行车充电模式；4：能量回收模式；5：停车充电模式；6： 能量混合回充模式；
+	@Order(21)
+	private short vehMode;
+	
+	//充电状态 1：未充电；2：充电准备；3：正在充电；4：充电故障；5：充电结束； 0xFF 表示缺省
+	@Order(22)
+	private short chargeState;
+	//动力电池实时电压
+	@Order(23)
+	private int battVol;
+	//动力电池实时电流
+	@Order(24)
+	private int battCur;
+	
+	//喇叭状态
+	@Order(25)
+	private short hornState;
+	//车轮数
+	@Order(26)
+	@NumFlag
+	private short  wheelNum;
+	//轮速 表示车轮线速度，单位：0.01 m/s，
+	//数据偏移量 200，表示-200.00 m/s～200.00 m/s，
+	@Order(27)
+
+	private List<Integer>  wheelVelocity;
+	//胎压
+	@Order(28)
+
+	private List<Integer>  tirePressure;
+	//车灯状态 BIT2 = 左转灯 BIT3 = 右转灯
+	@Order(30)
+	private int lights;
+	//车门状态
+	@Order(31)
+	private int doors;
+	//自定义字段长度
+	@Order(32)
+	@NumFlag
+	private short userdefinedDataLength;
+	//自定义字段内容
+	@Order(33)
+	private String userdefinedData;
+	
+}

src/main/java/com/cusc/adas/v2x/selfdefine/dto/SelfDefineDetailDto.java

 package com.cusc.adas.v2x.selfdefine.dto;
 
-import com.cusc.adas.v2x.vo.Position2D;
+import com.cusc.adas.v2x.dto.PositionDto;
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.Position;
 
 /**
  * 
@@ -8,18 +11,45 @@ import com.cusc.adas.v2x.vo.Position2D;
  *
  */
 public class SelfDefineDetailDto {
+	
+	@Order(1)
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private String rvVehicleId;
+	
 	//预警类型
+	@Order(2)
 	private short type;
 	
-	//RV经纬度
-	private Position2D rvLocation;
+	//GNSS时间戳
+	@Order(3)
+    @FieldDef(type = "TIMESTAMP", isArray = false, length = 8)
+    private long timestampGNSS;
+	
+	//主车经纬度
+	@Order(4)
+	private PositionDto location;
+	
+	//主车速度
+	@Order(5)
+	private int speed;
+	
+	//主车航向角
+	@Order(6)
+	private int heading;
+
+	//RV远车经纬度
+	@Order(7)
+	private PositionDto rvLocation;
 	
 	//RV方向 
-	private  long rvDirection;
+	@Order(8)
+	private  int rvHeading;
 	
 	//预警级别
-	private  long level;
+	@Order(9)
+	private  short level;
 	
 	//预警距离
-	private  long distance;
+	@Order(10)
+	private  int  distance;
 }

src/main/java/com/cusc/adas/v2x/selfdefine/vo/SelfDefineDetail.java

 package com.cusc.adas.v2x.selfdefine.vo;
 
+import com.cusc.adas.v2x.utils.FieldDef;
 import com.cusc.adas.v2x.utils.Order;
-import com.cusc.adas.v2x.vo.Position2D;
+import com.cusc.adas.v2x.vo.Position;
 
 /**
  * 
@@ -9,23 +10,45 @@ import com.cusc.adas.v2x.vo.Position2D;
  *
  */
 public class SelfDefineDetail {
-	//预警类型
+	
 	@Order(1)
-	private short type;
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private String rvVehicleId;
 	
-	//RV经纬度
+	//预警类型
 	@Order(2)
-	private Position2D rvLocation;
+	private short type;
 	
-	//RV方向 
+	//GNSS时间戳
 	@Order(3)
-	private  long rvDirection;
+    @FieldDef(type = "TIMESTAMP", isArray = false, length = 8)
+    private long timestampGNSS;
 	
-	//预警级别
+	//主车经纬度
 	@Order(4)
-	private  long level;
+	private Position location;
 	
-	//预警距离
+	//主车速度
 	@Order(5)
-	private  long distance;
+	private int speed;
+	
+	//主车航向角
+	@Order(6)
+	private long heading;
+
+	//RV远车经纬度
+	@Order(7)
+	private Position rvLocation;
+	
+	//RV方向 
+	@Order(8)
+	private  long rvHeading;
+	
+	//预警级别
+	@Order(9)
+	private  short level;
+	
+	//预警距离
+	@Order(10)
+	private  int  distance;
 }

src/main/java/com/cusc/adas/v2x/selfdefine/vo/SelfDefineMessageBody.java

@@ -22,7 +22,7 @@ public class SelfDefineMessageBody<T> {
 	
 	//数据内容
 	@Order(4)
-	private List<T> data;
+	private SelfDefineDetail data;
 	
 	
 }

src/main/java/com/cusc/adas/v2x/server/UdpServerHandler.java

@@ -4,9 +4,12 @@ package com.cusc.adas.v2x.server;
 
 
 
+import com.cusc.adas.v2x.assist.vo.AssistMessage;
 import com.cusc.adas.v2x.clouddecision.vo.CloudDecisionMessage;
 import com.cusc.adas.v2x.dto.VehicleBodyDto;
+import com.cusc.adas.v2x.selfdefine.vo.SelfDefineMessage;
 import com.cusc.adas.v2x.utils.Parse;
+import com.cusc.adas.v2x.vehiclesubscribe.vo.VehicleSubscribeMessage;
 import com.cusc.adas.v2x.vo.VehicleMessage;
 
 import io.netty.buffer.ByteBuf;
@@ -50,15 +53,27 @@ public class UdpServerHandler extends SimpleChannelInboundHandler<DatagramPacket
 	        
 	        System.out.println("Received message: " + vehicleBodyDto);
 	        
-        }else if(hexString.substring(10,12).equals("15")) {
+        }else if(hexString.substring(10,12).equals("36")) {
+       	 ByteBuf byteBuf = Unpooled.wrappedBuffer(req);
+       	 VehicleSubscribeMessage  vehicleSubscribeMessage = Parse.parse(byteBuf,new VehicleSubscribeMessage()); 
+	     System.out.println("Received message: " + vehicleSubscribeMessage);
+
+       }else if(hexString.substring(10,12).toUpperCase().equals("3C")) {
         	 ByteBuf byteBuf = Unpooled.wrappedBuffer(req);
         	 CloudDecisionMessage  cloudDecisionMessage = Parse.parse(byteBuf,new CloudDecisionMessage()); 
  	        System.out.println("Received message: " + cloudDecisionMessage);
 // 	        VehicleBodyDto vehicleBodyDto =  new VehicleBodyDto();
-// 	        Parse.convoterBean(vehicleMessage.getVehicleMessageBody(), vehicleBodyDto);
- 	        
+// 	        Parse.convoterBean(vehicleMessage.getVehicleMessageBody(), vehicleBodyDto);       
 // 	        System.out.println("Received message: " + vehicleBodyDto);
-        }
+        }else if(hexString.substring(10,12).toUpperCase().equals("3E")) {
+        	 ByteBuf byteBuf = Unpooled.wrappedBuffer(req);
+        	 AssistMessage  assistMessage = Parse.parse(byteBuf,new AssistMessage()); 
+ 	        System.out.println("Received message: " + assistMessage);
+        }else if(hexString.substring(10,12).toUpperCase().equals("5E")) {
+       	 ByteBuf byteBuf = Unpooled.wrappedBuffer(req);
+       	SelfDefineMessage  selfDefineMessage = Parse.parse(byteBuf,new SelfDefineMessage()); 
+	        System.out.println("Received message: " + selfDefineMessage);
+       }
         
        
         

src/main/java/com/cusc/adas/v2x/utils/DependencyDef.java

+package com.cusc.adas.v2x.utils;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME) // 注解在运行时可用
+@Target(ElementType.FIELD) // 注解只能用于字段（属性）
+public @interface DependencyDef {
+	String value() ;
+}

src/main/java/com/cusc/adas/v2x/utils/DynamicsClassDef.java

+package com.cusc.adas.v2x.utils;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME) // 注解在运行时可用
+@Target(ElementType.FIELD) // 注解只能用于字段（属性）
+public @interface DynamicsClassDef {
+	String classtype();
+}

src/main/java/com/cusc/adas/v2x/utils/OffsetDef.java

@@ -8,7 +8,7 @@ import java.lang.annotation.Target;
 @Retention(RetentionPolicy.RUNTIME) // 注解在运行时可用
 @Target(ElementType.FIELD) // 注解只能用于字段（属性）
 public @interface OffsetDef {
-	double value() default 1;//偏移量
-	int type() default 2; //1:除法 2:乘法;
-	int minValidLength() default 0;//数据最小位数,不够补0
+	double value() default 1;
+	int type() default 1; //1:除法 2:乘法;
+	int minValidLength() default 0;
 }