添加8.5 表64 局部路径

src/main/java/com/cusc/adas/v2x/clouddecision/dto/PathPathDto.java

+package com.cusc.adas.v2x.clouddecision.dto;
+
+import com.cusc.adas.v2x.dto.Position2DDto;
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.Position2D;
+
+/****
+ * 局部路径点
+ * **/
+public class PathPathDto {
+    //    分段编号长度
+    private short pathIdLen;
+    //分段编号
+    private String pathId;
+    //关联 GNSS 点 数量
+    private short pointsNum;
+    //关联 GNSS 点 位置
+    private Position2DDto pointsPos;
+    //分段长度
+    private long pathLen;
+    //分段名称长度
+    private short pathNameLen;
+    //分段名称
+    private String pathName;
+    //分段类型 ，0：常规路段；1：路口内连接路段，0xFF 表示缺 省 2=红色 3=绿色
+    private short pathType;
+
+    public short getPathType() {
+        return pathType;
+    }
+
+
+    public Position2DDto getPointsPos() {
+        return pointsPos;
+    }
+}

src/main/java/com/cusc/adas/v2x/clouddecision/dto/RSISDetailDto.java

@@ -48,10 +48,14 @@ public class RSISDetailDto {
 
     //自定义内容长度
     private int userdefinedDataLength;
-
+	//这里用来拿到人的感知物id
     private String userdefinedData;
 
 
+    public String getUserdefinedData() {
+        return userdefinedData;
+    }
+
     public PositionDto getEventPosition() {
         return eventPosition;
     }

src/main/java/com/cusc/adas/v2x/clouddecision/dto/RoutePlanDto.java

+package com.cusc.adas.v2x.clouddecision.dto;
+
+import com.cusc.adas.v2x.dto.Position2DDto;
+
+import java.util.List;
+
+/**
+ * 8.5 CLOUD2VEH_ADVICE_GUIDANCE = 19
+ * 路线规划指令
+ ***/
+public class RoutePlanDto {
+
+    //    事件唯一标识
+    private String uuid;
+    //事件生成时间 戳
+    private String timestamp;
+    //告警类型 固定值为 6601，用于匹配 RSI
+    private int alertType;
+    //路线长度
+    private long totalLen;
+
+    //目的地位置
+    private Position2DDto destLocation;
+    //目的地停车航 向角
+
+    private double destHeading;
+    //    路线分段个数
+
+    private int pathNum;
+
+    //路线规划数据 长度
+
+    private int dataLen;
+    //长度为 N 个字节，其中 N 为路线规划数据长度，路线规划数据结构内
+
+    private List<PathPathDto> pathList;
+
+    public List<PathPathDto> getPathList() {
+        return pathList;
+    }
+}

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

+package com.cusc.adas.v2x.clouddecision.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.Position2D;
+
+/****
+ * 局部路径点
+ * **/
+public class PathPath {
+    //    分段编号长度
+    @Order(1)
+    private short pathIdLen;
+    //分段编号
+    @Order(2)
+    private String pathId;
+    //关联 GNSS 点 数量
+    @Order(3)
+    private short pointsNum;
+    //关联 GNSS 点 位置
+    @Order(4)
+    private Position2D pointsPos;
+    //分段长度
+    @Order(5)
+    private long pathLen;
+    //分段名称长度
+    @Order(6)
+    private short pathNameLen;
+    //分段名称
+    @Order(7)
+    private String pathName;
+    //分段类型 ，0：常规路段；1：路口内连接路段，0xFF 表示缺 省 2=红色 3=绿色
+    @Order(7)
+    private short pathType;
+
+}

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

@@ -62,7 +62,7 @@ public class RSISDetail {
 	//自定义内容长度
 	@Order(13)
 	private int userdefinedDataLength;
-	
+	//这里用来拿到人的感知物id
 	@Order(14)
 	//自定义内容
 	@RefNumFlag(value="userdefinedDataLength")

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

+package com.cusc.adas.v2x.clouddecision.vo;
+
+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.vo.Position2D;
+
+import java.util.List;
+
+/**
+ * 8.5 CLOUD2VEH_ADVICE_GUIDANCE = 19
+ * 路线规划指令
+ ***/
+public class RoutePlan {
+
+    //    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 String timestamp;
+    //告警类型 固定值为 6601，用于匹配 RSI
+    @Order(3)
+    private int alertType;
+    //路线长度
+    @Order(4)
+    private long totalLen;
+
+    //目的地位置
+    @Order(5)
+    private Position2D destLocation;
+    //目的地停车航向角
+    @Order(6)
+    @OffsetDef(value=0.0001)
+    private long destHeading;
+    //    路线分段个数
+    @Order(7)
+    private int pathNum;
+
+    //路线规划数据 长度
+    @Order(8)
+    private int dataLen;
+    //长度为 N 个字节，其中 N 为路线规划数据长度，路线规划数据结构内
+    @Order(9)
+    private List<PathPath> pathList;
+
+}

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

@@ -9,12 +9,14 @@ import com.cusc.adas.v2x.clouddecision.dto.AutoSpeedLimitDto;
 import com.cusc.adas.v2x.clouddecision.dto.EmergencyVehicleDto;
 import com.cusc.adas.v2x.clouddecision.dto.FawWarnningDto;
 import com.cusc.adas.v2x.clouddecision.dto.RSIWarnningDto;
+import com.cusc.adas.v2x.clouddecision.dto.RoutePlanDto;
 import com.cusc.adas.v2x.clouddecision.dto.TrafficLightInfoDto;
 import com.cusc.adas.v2x.clouddecision.vo.AbnormalVehicle;
 import com.cusc.adas.v2x.clouddecision.vo.AutoSpeedLimit;
 import com.cusc.adas.v2x.clouddecision.vo.EmergencyVehicle;
 import com.cusc.adas.v2x.clouddecision.vo.FawWarnning;
 import com.cusc.adas.v2x.clouddecision.vo.RSIWarnning;
+import com.cusc.adas.v2x.clouddecision.vo.RoutePlan;
 import com.cusc.adas.v2x.clouddecision.vo.TrafficLightInfo;
 
 import java.util.HashMap;
@@ -34,6 +36,7 @@ public class DynamicsClassMap {
         cloundDecisionsubMap.put((short) 11, AbnormalVehicle.class);//异常车辆预警
         cloundDecisionsubMap.put((short) 13, EmergencyVehicle.class);//紧急车辆预警
         cloundDecisionsubMap.put((short) 17, RSIWarnning.class);//通用 RSI 预警
+        cloundDecisionsubMap.put((short) 19, RoutePlan.class);//路线规划指令,用于局部路径一半红，一半蓝
         map.put("CloudDecision", cloundDecisionsubMap);
 
         // 8.8   云端辅助功能信息及返回
@@ -50,6 +53,7 @@ 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
+        cloundDecisionsubMapDto.put((short) 19, RoutePlanDto.class);//路线规划指令,用于局部路径一半红，一半蓝
 
         mapDto.put("CloudDecision", cloundDecisionsubMapDto);
         Map<Short, Class> assistSubMapDto = new HashMap<>();

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

@@ -7,7 +7,7 @@ import com.cusc.adas.v2x.utils.OffsetDef;
 import com.cusc.adas.v2x.utils.Order;
 import com.cusc.adas.v2x.utils.RefNumFlag;
 
-//云端决策建议信息数据结构
+//8.5 云端决策建议信息数据结构
 public class VehAdviceInfo<T>  {
     //车辆编号
     @Order(1)
@@ -41,7 +41,7 @@ public class VehAdviceInfo<T>  {
     //    命令长度
     @Order(8)
     private int dataLen;
-    //
+    //各项功能对应的 adviceType
     @Order(9)
     @DynamicsClassDef(classtype="CloudDecision")
     @DependencyDef(value="adviceType")