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Commit 65b50318 authored by p x's avatar p x
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解析DTO

parent f2e07035
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src/main/java/com/cusc/adas/v2x/dto/VehicleInfoDto.java
View file @ 65b50318
......@@ -36,7 +36,7 @@ public class VehicleInfoDto {
//档位
@Order(7)
private byte tapPos ;
private short tapPos ;
//方向盘转角
@Order(8)
private double steeringAngle;
......@@ -46,41 +46,41 @@ public class VehicleInfoDto {
//纵向加速度
@Order(10)
private float accelerationLon;
//横向加速度
@Order(11)
private float accelerationLat;
//垂向加速度
@Order(12)
private float accelerationVer;
//横摆角速度
@Order(13)
private float yawRate;
//油门开度
@Order(14)
private float accelPos;
//发动机输出转速
@Order(15)
private float engineSpeed;
//发动机扭矩
@Order(16)
private double engineTorque;
//制动踏板开关
@Order(17)
private short brakeFlag;
//制动踏板开度
@Order(18)
private float brakePos;
//制动主缸压力
@Order(19)
private int brakePressure;
private float brakePressure;
//油耗
@Order(20)
......
src/main/java/com/cusc/adas/v2x/utils/Parse.java
View file @ 65b50318
......@@ -7,6 +7,8 @@ import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.List;
import java.util.SortedMap;
import java.util.TreeMap;
......@@ -15,286 +17,308 @@ import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;
public class Parse {
public static <T> T parse(ByteBuf data, T t) throws InstantiationException, IllegalAccessException, NoSuchFieldException, SecurityException, ClassNotFoundException {
Field [] fields = t.getClass().getDeclaredFields();
List<Field> fList = new ArrayList<>();
SortedMap<Integer,Field> rstMap = new TreeMap<>();
for(Field field : fields) {
field.setAccessible(true);
if (field.isAnnotationPresent(Order.class)) {
String fieldName = field.getName();
Order order = field.getAnnotation(Order.class);
int num = order.value();
//基础数据类型 且 不是数组
if(field.getType().isPrimitive() && !field.getType().isArray() ) {
// data.re
// field.set(fList, rstMap);
readBuf(t,field,data);
}else if(field.getClass().isPrimitive() && field.getType().isArray()){
// 基础数据类型 且 是数组
}else if(List.class.isAssignableFrom(field.getType())) {
// 集合类型
//读取属性的注解是否引用其他字段的长度
if( field.isAnnotationPresent(RefNumFlag.class)) {
RefNumFlag refNumFlag = field.getAnnotation(RefNumFlag.class);
String refField = refNumFlag.value();
Class<?> clazz1 = t.getClass();
Field nameField = clazz1.getDeclaredField(refField);
Type genericType = nameField.getGenericType();
nameField.setAccessible(true);
if (genericType instanceof ParameterizedType) {
ParameterizedType pt = (ParameterizedType) genericType;
Type[] actualTypes = pt.getActualTypeArguments();
if (actualTypes.length > 0) {
actualTypes[0].getClass();
int len= (int) nameField.get(t);
for(int i=0;i<len;i++) {
actualTypes[0].getClass();
}
}
}
}
}else if(field.getType()==String.class) {
//类型为字符串
readBuf(t,field,data);
}else {
//其他对象类型
Class<?> cls = Class.forName(field.getType().getName());
Object obj = cls.newInstance();
parse(data, obj);
field.set(t, obj);
}
rstMap.put(num,field);
}
}
return t;
}
/**
* 读取字节流
* @param t
* @param field
* @param data
* @throws IllegalArgumentException
* @throws IllegalAccessException
*/
public static void readBuf(Object t, Field field,ByteBuf data ) throws IllegalArgumentException, IllegalAccessException {
if(data.readerIndex()==data.maxCapacity() )
return ;
FieldDef fieldDef =null;
if(field.isAnnotationPresent(FieldDef.class)) {
fieldDef = field.getAnnotation(FieldDef.class);
}
Class<?> type = field.getType();
if(type==String.class && fieldDef!=null &&fieldDef.type().equals("BYTE")) {
byte[]by = new byte[fieldDef.length()];
data.readBytes(by);
String str = new String(by, StandardCharsets.UTF_8);
field.set(t, str);
}else if(type==short.class) {
field.set(t, data.readUnsignedByte());
}else if(type==int.class) {
field.set(t, data.readUnsignedShort());
}else if(type==long.class && fieldDef==null ) {
field.set(t, data.readUnsignedInt());
}else if(type==long.class && fieldDef!=null &&fieldDef.type().equals("TIMESTAMP") && fieldDef.length()==8 ) {
field.set(t, data.readLong());
}else if(type==long.class && fieldDef!=null &&fieldDef.type().equals("BYTE") ) {
field.set(t, data.readLong());
}
}
public static byte[] longToBytes(long value) {
ByteBuffer buffer = ByteBuffer.allocate(8);
buffer.order(ByteOrder.BIG_ENDIAN); // 指定小端模式
buffer.putLong(value); // 将long值存入buffer
return buffer.array(); // 获取byte数组
}
public static byte[] longToBytes1(long value) {
ByteBuffer buffer = ByteBuffer.allocate(4);
buffer.order(ByteOrder.BIG_ENDIAN); // 指定小端模式
buffer.putLong(value); // 将long值存入buffer
return buffer.array(); // 获取byte数组
}
public static byte[] intToBytes(int value) {
ByteBuffer buffer = ByteBuffer.allocate(4);
buffer.order(ByteOrder.BIG_ENDIAN); // 指定小端模式
buffer.putLong(value); // 将long值存入buffer
return buffer.array(); // 获取byte数组
}
public static String byteToHexString(byte[] bytes) {
StringBuilder sb = new StringBuilder();
for (byte b : bytes) {
sb.append(String.format("%02x", b));
}
return sb.toString();
//return null;
public static <T> T parse(ByteBuf data, T t) throws InstantiationException, IllegalAccessException, NoSuchFieldException, SecurityException, ClassNotFoundException {
Field[] fields = t.getClass().getDeclaredFields();
List<Field> fList = new ArrayList<>();
SortedMap<Integer, Field> rstMap = new TreeMap<>();
for (Field field : fields) {
if (field.isAnnotationPresent(Order.class)) {
fList.add(field);
}
}
Collections.sort(fList, new Comparator<Field>() {
@Override
public int compare(Field f1, Field f2) {
return f1.getAnnotation(Order.class).value() - f2.getAnnotation(Order.class).value();
}
});
for (Field field : fList) {
field.setAccessible(true);
if (field.isAnnotationPresent(Order.class)) {
String fieldName = field.getName();
Order order = field.getAnnotation(Order.class);
System.out.println(fieldName);
int num = order.value();
//基础数据类型 且 不是数组
if (field.getType().isPrimitive() && !field.getType().isArray()) {
// data.re
// field.set(fList, rstMap);
readBuf(t, field, data);
} else if (field.getClass().isPrimitive() && field.getType().isArray()) {
// 基础数据类型 且 是数组
} else if (List.class.isAssignableFrom(field.getType())) {
// 集合类型
//读取属性的注解是否引用其他字段的长度
if (field.isAnnotationPresent(RefNumFlag.class)) {
RefNumFlag refNumFlag = field.getAnnotation(RefNumFlag.class);
String refField = refNumFlag.value();
Class<?> clazz1 = t.getClass();
Field nameField = clazz1.getDeclaredField(refField);
Type genericType = nameField.getGenericType();
nameField.setAccessible(true);
if (genericType instanceof ParameterizedType) {
ParameterizedType pt = (ParameterizedType) genericType;
Type[] actualTypes = pt.getActualTypeArguments();
if (actualTypes.length > 0) {
actualTypes[0].getClass();
int len = (int) nameField.get(t);
for (int i = 0; i < len; i++) {
actualTypes[0].getClass();
}
}
}
}
} else if (field.getType() == String.class) {
//类型为字符串
readBuf(t, field, data);
} else {
//其他对象类型
Class<?> cls = Class.forName(field.getType().getName());
Object obj = cls.newInstance();
parse(data, obj);
field.set(t, obj);
}
rstMap.put(num, field);
}
}
return t;
}
/**
* 读取字节流
*
* @param t
* @param field
* @param data
* @throws IllegalArgumentException
* @throws IllegalAccessException
*/
public static void readBuf(Object t, Field field, ByteBuf data) throws IllegalArgumentException, IllegalAccessException {
if (data.readerIndex() == data.maxCapacity())
return;
FieldDef fieldDef = null;
if (field.isAnnotationPresent(FieldDef.class)) {
fieldDef = field.getAnnotation(FieldDef.class);
}
Class<?> type = field.getType();
if (type == String.class && fieldDef != null && fieldDef.type().equals("BYTE")) {
byte[] by = new byte[fieldDef.length()];
data.readBytes(by);
String str = new String(by, StandardCharsets.UTF_8);
field.set(t, str);
} else if (type == short.class) {
field.set(t, data.readUnsignedByte());
} else if (type == int.class) {
field.set(t, data.readUnsignedShort());
} else if (type == long.class && fieldDef == null) {
field.set(t, data.readUnsignedInt());
} else if (type == long.class && fieldDef != null && fieldDef.type().equals("TIMESTAMP") && fieldDef.length() == 8) {
field.set(t, data.readLong());
} else if (type == long.class && fieldDef != null && fieldDef.type().equals("BYTE")) {
field.set(t, data.readLong());
}
}
public static byte[] longToBytes(long value) {
ByteBuffer buffer = ByteBuffer.allocate(8);
buffer.order(ByteOrder.BIG_ENDIAN); // 指定小端模式
buffer.putLong(value); // 将long值存入buffer
return buffer.array(); // 获取byte数组
}
public static byte[] longToBytes1(long value) {
ByteBuffer buffer = ByteBuffer.allocate(4);
buffer.order(ByteOrder.BIG_ENDIAN); // 指定小端模式
buffer.putLong(value); // 将long值存入buffer
return buffer.array(); // 获取byte数组
}
public static byte[] intToBytes(int value) {
ByteBuffer buffer = ByteBuffer.allocate(4);
buffer.order(ByteOrder.BIG_ENDIAN); // 指定小端模式
buffer.putLong(value); // 将long值存入buffer
return buffer.array(); // 获取byte数组
}
public static String byteToHexString(byte[] bytes) {
StringBuilder sb = new StringBuilder();
for (byte b : bytes) {
sb.append(String.format("%02x", b));
}
return sb.toString();
//return null;
// ByteBuffer buffer = ByteBuffer.allocate(8);
// buffer.order(ByteOrder.LITTLE_ENDIAN); // 指定小端模式
// buffer.putLong(value); // 将long值存入buffer
// return buffer.array(); // 获取byte数组
}
public static String long2Hex(long num, int len) {
String hex = Long.toHexString(num);
int padLength = len * 2;
if (hex.length() >= padLength) {
return hex.substring(hex.length() - padLength); // 超长时截断
}
return String.format("%0" + padLength + "d", 0).replace("0", "0") + hex; // 或直接格式化
}
public static void main(String [] args) throws InstantiationException, IllegalAccessException, NoSuchFieldException, SecurityException, ClassNotFoundException {
String hexString = "F20000000015018cb864640000000000";
byte[] bytes = HexStringToByteArray.hexStringToByteArray(hexString);
ByteBuf byteBuf = Unpooled.buffer(16);
long l = 500000;
//3600000000
// 1164916946
// byte [] bs = Long.toHexString(l);
String s = long2Hex(l,4);
//longToBytes1(l);
int i = 990;
String hex = Integer.toHexString(i);
String vid = "T1023459";
byte[] by1 = vid.getBytes();
s = byteToHexString(by1);
System.out.println(s);
}
public static String long2Hex(long num, int len) {
String hex = Long.toHexString(num);
int padLength = len * 2;
if (hex.length() >= padLength) {
return hex.substring(hex.length() - padLength); // 超长时截断
}
return String.format("%0" + padLength + "d", 0).replace("0", "0") + hex; // 或直接格式化
}
public static void main(String[] args) throws InstantiationException, IllegalAccessException, NoSuchFieldException, SecurityException, ClassNotFoundException {
String hexString = "F20000000015018cb864640000000000";
byte[] bytes = HexStringToByteArray.hexStringToByteArray(hexString);
ByteBuf byteBuf = Unpooled.buffer(16);
long l = 500000;
//3600000000
// 1164916946
// byte [] bs = Long.toHexString(l);
String s = long2Hex(l, 4);
//longToBytes1(l);
int i = 33;
String hex = Integer.toHexString(i);
String vid = "T1023459";
byte[] by1 = vid.getBytes();
s = byteToHexString(by1);
System.out.println(s);
//
//
// List<Byte> byteList = new ArrayList<Byte>();
//
// Byte[] bytes = byteList.toArray(new Byte[byteList.size()]);
//byte[] bs = convoter(bytes);
//byteBuf.writeBytes(bytes);
//VehicleMessage vehicleMessage = parse(byteBuf,new VehicleMessage());
//System.out.print(vehicleMessage);
}
public static void convoterBean( Object source , Object target) throws IllegalArgumentException, IllegalAccessException, ClassNotFoundException, InstantiationException, NoSuchFieldException, SecurityException {
Field [] fields = source.getClass().getDeclaredFields();
List<Field> fList = new ArrayList<>();
SortedMap<Integer,Field> rstMap = new TreeMap<>();
for(Field field : fields) {
field.setAccessible(true);
Object o= field.get(source);
if(o==null) {
continue;
}
OffsetDef offsetDef =null;
if(field.isAnnotationPresent(OffsetDef.class)) {
offsetDef = field.getAnnotation(OffsetDef.class);
}
//获取目标对象指定的属性
Field tField = target.getClass().getDeclaredField(field.getName());
tField.setAccessible(true);
if (field.isAnnotationPresent(Order.class)) {
if(field.getType().isPrimitive() && !field.getType().isArray() ) {
//如果属性添加了自定义注解 offset
Class<?> type = field.getType();
if(offsetDef!=null) {
double offset =offsetDef.value();
int ofsetType =offsetDef.type();
int minValidLength =offsetDef.minValidLength();
//startindex
if(type==byte.class) {
tField.set(target, o);
}else if(type==short.class) {
if(minValidLength>0 ) {
int len = String.valueOf((Short)o).length();
if(len<minValidLength) {
int subtract = minValidLength-len;
double f =(Short)o*Math.pow(10, subtract)*offset;
tField.set(target, (float)f);
}else {
double f =(Short)o*offset;
tField.set(target, (float)f);
}
}else {
double f =(Short)o*offset;
tField.set(target, (float)f);
}
}else if(type==int.class) {
if(minValidLength>0 ) {
int len = String.valueOf((Integer)o).length();
if(len<minValidLength) {
int subtract = minValidLength-len;
double f =(Integer)o*Math.pow(10, subtract)*offset;
tField.set(target, (float)f);
}else {
double f =(Integer)o*offset;
tField.set(target, (float)f);
}
}else {
// double f =(Integer)o*offset;
float f = (float) ((Integer)o*offset);
tField.set(target, (float)f);
}
}else if(type==long.class) {
if(minValidLength>0 ) {
int len = String.valueOf((Long)o).length();
if(len<minValidLength) {
int subtract = minValidLength-len;
double f =(Long)o*Math.pow(10, subtract)*offset;
tField.set(target, (float)f);
}else {
double f =(Long)o*offset;
tField.set(target, (float)f);
}
}else {
double d =(Long)o*offset;
tField.set(target, d);
}
}
}else {
tField.set(target, o);
}
}else if(field.getClass().isPrimitive() && field.getType().isArray()){
// 基础数据类型 且 是数组
}else if(List.class.isAssignableFrom(field.getType())) {
// 集合类型
//读取属性的注解是否引用其他字段的长度
if( field.isAnnotationPresent(RefNumFlag.class)) {
//byte[] bs = convoter(bytes);
//byteBuf.writeBytes(bytes);
//VehicleMessage vehicleMessage = parse(byteBuf,new VehicleMessage());
//System.out.print(vehicleMessage);
}
public static void convoterBean(Object source, Object target) {
Field field;
Field tField;
try {
Field[] fields = source.getClass().getDeclaredFields();
//List<Field> fList = new ArrayList<>();
//SortedMap<Integer,Field> rstMap = new TreeMap<>();
for (Field cfield : fields) {
field = cfield;
field.setAccessible(true);
Object o = field.get(source);
if (o == null) {
continue;
}
OffsetDef offsetDef = null;
if (field.isAnnotationPresent(OffsetDef.class)) {
offsetDef = field.getAnnotation(OffsetDef.class);
}
//获取目标对象指定的属性
tField = target.getClass().getDeclaredField(field.getName());
tField.setAccessible(true);
if (field.isAnnotationPresent(Order.class)) {
if (field.getType().isPrimitive() && !field.getType().isArray()) {
//如果属性添加了自定义注解 offset
Class<?> type = field.getType();
if (offsetDef != null) {
double offset = offsetDef.value();
int type1 = offsetDef.type();
int minValidLength = offsetDef.minValidLength();
//startindex
if (type == byte.class) {
tField.set(target, o);
} else if (type == short.class) {
if (minValidLength > 0) {
int len = String.valueOf((Short) o).length();
if (len < minValidLength) {
int subtract = minValidLength - len;
double f = (Short) o * Math.pow(10, subtract) * offset;
tField.set(target, (float) f);
} else {
double f = (Short) o * offset;
tField.set(target, (float) f);
}
} else {
double f = (Short) o * offset;
tField.set(target, (short) f);
}
} else if (type == int.class) {
if (minValidLength > 0) {
int len = String.valueOf((Integer) o).length();
if (len < minValidLength) {
int subtract = minValidLength - len;
double f = (Integer) o * Math.pow(10, subtract) * offset;
tField.set(target, (float) f);
} else {
double f = (Integer) o * offset;
tField.set(target, (float) f);
}
} else {
double f = (Integer) o * offset;
tField.set(target, (float) f);
}
} else if (type == long.class) {
if (minValidLength > 0) {
int len = String.valueOf((Long) o).length();
if (len < minValidLength) {
int subtract = minValidLength - len;
double f = (Long) o * Math.pow(10, subtract) * offset;
tField.set(target, (float) f);
} else {
double f = (Long) o * offset;
tField.set(target, (float) f);
}
} else {
double d = (Long) o * offset;
tField.set(target, (float)d);
}
}
} else {
tField.set(target, o);
}
} else if (field.getClass().isPrimitive() && field.getType().isArray()) {
// 基础数据类型 且 是数组
} else if (List.class.isAssignableFrom(field.getType())) {
// 集合类型
//读取属性的注解是否引用其他字段的长度
if (field.isAnnotationPresent(RefNumFlag.class)) {
// RefNumFlag refNumFlag = field.getAnnotation(RefNumFlag.class);
// String refField = refNumFlag.value();
// Class<?> clazz1 = t.getClass();
// Field nameField = clazz1.getDeclaredField(refField);
// Type genericType = nameField.getGenericType();
// nameField.setAccessible(true);
//
//
// if (genericType instanceof ParameterizedType) {
// ParameterizedType pt = (ParameterizedType) genericType;
// Type[] actualTypes = pt.getActualTypeArguments();
......@@ -306,29 +330,51 @@ public class Parse {
// }
// }
// }
}
}else if(field.getType()==String.class) {
//类型为字符串
}
} else if (field.getType() == String.class) {
//类型为字符串
// try {
// String s = (String)o;
// String s1 = new String(s.getBytes());
tField.set(target, o);
tField.set(target, o);
// }catch(Exception e) {
// e.printStackTrace();
// }
}else {
//其他对象类型
Class<?> cls = Class.forName(tField.getType().getName());
Object obj = cls.newInstance();
convoterBean(o, obj);
tField.set(target, obj);
}
}
}
}
} else {
//其他对象类型
Class<?> cls = Class.forName(tField.getType().getName());
Object obj = cls.newInstance();
convoterBean(o, obj);
tField.set(target, obj);
}
}
}
} catch (IllegalArgumentException e) {
System.out.println("e = " + e.getMessage());
} catch (IllegalAccessException e) {
System.out.println("e = " + e.getMessage());
} catch (ClassNotFoundException e) {
System.out.println("e = " + e.getMessage());
} catch (InstantiationException e) {
System.out.println("e = " + e.getMessage());
} catch (NoSuchFieldException e) {
System.out.println("e = " + e.getMessage());
} catch (SecurityException e) {
System.out.println("e = " + e.getMessage());
}
}
public static byte[] convoter(Byte[] bytes) {
byte[] bs = new byte[bytes.length];
int i = 0;
for (Byte b : bytes) {
bs[i++] = b;
}
return bs;
}
}
src/main/java/com/cusc/adas/v2x/vo/Position2D.java
View file @ 65b50318
......@@ -6,10 +6,10 @@ import com.cusc.adas.v2x.utils.Order;
public class Position2D {
//经度
@Order(1)
@OffsetDef(value=10000000)
@OffsetDef(value=0.0000001,minValidLength=10)
private long longitude;
//纬度
@Order(2)
@OffsetDef(value=10000000)
@OffsetDef(value=0.0000001,minValidLength=9)
private long latitude;
}
src/main/java/com/cusc/adas/v2x/vo/VehicleInfo.java
View file @ 65b50318
......@@ -7,118 +7,116 @@ 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;
/**
* 车辆基础信息
* @author huangml
*
* @author huangml
*/
public class VehicleInfo {
//车辆编号
@Order(1)
@FieldDef(type="BYTE",isArray=true,length=8)
private String vehicleId;
//消息编号
@Order(2)
@FieldDef(type="BYTE",isArray=true,length=8)
private long messageId;
//GNSS 时间戳
@Order(3)
@FieldDef(type="TIMESTAMP",isArray=false,length=8)
private long timestampGNSS;
//GNSS 速度 单位：0.01 m/s
@Order(4)
@OffsetDef(value=0.036,type=2)
private int velocityGNSS;
//位置
@Order(5)
private Position position;
//航向角 单位为 1e-4 °
@Order(6)
@OffsetDef(value=0.0001,type = 2)
private int heading;
//档位
@Order(7)
private byte tapPos ;
//方向盘转角 单位为 1e-4 °
@Order(8)
@OffsetDef(value=0.0001)
private long steeringAngle;
//当前车速 单位：0.01m/s
@Order(9)
@OffsetDef(value=0.036,type=2)
private int velocity;
//纵向加速度 单位：0.01m/s
@Order(10)
@OffsetDef(value=36,type=2)
private int accelerationLon;
//横向加速度 单位：0.01m/s
@Order(11)
@OffsetDef(value=36,type=2)
private int accelerationLat;
//垂向加速度 单位：0.01m/s
@Order(12)
@OffsetDef(value=36,type=2)
private int accelerationVer;
//横摆角速度 单位：0.01m/s
@Order(13)
@OffsetDef(value=36,type=2)
private int yawRate;
//油门开度 单位：0.1%
@Order(14)
private int accelPos;
//发动机输出转速 单位：r/min
@Order(15)
private int engineSpeed;
//发动机扭矩 单位：0.01Nm
@Order(16)
private long engineTorque;
//制动踏板开关
@Order(17)
private short brakeFlag;
//制动踏板开度 单位：0.1%
@Order(18)
private int brakePos;
//制动主缸压力 单位 0.01MPa
@Order(19)
private int brakePressure;
//油耗 单位 0.01L/100km
@Order(20)
private int fuelConsumption;
//车辆驾驶模式
@Order(21)
private byte driveMode;
//目的地位置
@Order(22)
private Position2D destLocation;
//途经点数量
@Order(23)
@NumFlag
private short passPointsNum;
//途经点
@Order(24)
@RefNumFlag(value="passPointsNum")
private List<Position2D> passPoints;
//车辆编号
@Order(1)
@FieldDef(type = "BYTE", isArray = true, length = 8)
private String vehicleId;
//消息编号
@Order(2)
@FieldDef(type = "BYTE", isArray = true, length = 8)
private long messageId;
//GNSS 时间戳
@Order(3)
@FieldDef(type = "TIMESTAMP", isArray = false, length = 8)
private long timestampGNSS;
//GNSS 速度 单位：0.01 m/s
@Order(4)
@OffsetDef(value = 0.036, type = 2)
private int velocityGNSS;
//位置
@Order(5)
private Position position;
/****[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)
private long heading;
/**
* 档位 枚举类型：[0..50]，0：数据失效；1-20：表示手动档车辆前进档对 应档位，1 表示 1 档，2 表示 2 档，以此类推；21-30：表示手动挡车 辆倒档对应档位，
* 21 表示 R1 档，22 表示 R2 档，以此类推；31：D 档 （前进档）；32：R 档（倒档）；33：P 档（驻车档）；34：N 档（空 档）；
* 35：S 档（运动模式）；36：L 档（低速档）；37：H 档；38； HL 档；39-50：预留，不可缺省，0xFF 表示异常
*/
@Order(7)
private short tapPos;
//方向盘转角 单位为 1e-4 °
@Order(8)
@OffsetDef(value = 0.0001)
private long steeringAngle;
/**[0..20000]，CAN 总线数据中的行驶速度，单位：0.01m/s，0xFFFF 表 示缺省***/
@Order(9)
@OffsetDef(value = 0.036, type = 2)
private int velocity;
//纵向加速度 单位：0.01m/s
@Order(10)
@OffsetDef(value = 0.036, type = 2)
private int accelerationLon;
//横向加速度 单位：0.01m/s
@Order(11)
@OffsetDef(value = 0.036, type = 2)
private int accelerationLat;
//垂向加速度 单位：0.01m/s
@Order(12)
@OffsetDef(value = 0.036, type = 2)
private int accelerationVer;
//横摆角速度 单位：0.01m/s
@Order(13)
@OffsetDef(value = 0.036, type = 2)
private int yawRate;
//油门开度 单位：0.1%
@Order(14)
private int accelPos;
//发动机输出转速 单位：r/min
@Order(15)
private int engineSpeed;
//发动机扭矩 单位：0.01Nm
@Order(16)
private long engineTorque;
//制动踏板开关
@Order(17)
private short brakeFlag;
//制动踏板开度 单位：0.1%
@Order(18)
private int brakePos;
//制动主缸压力 单位 0.01MPa
@Order(19)
private int brakePressure;
//油耗 单位 0.01L/100km
@Order(20)
private int fuelConsumption;
//车辆驾驶模式
@Order(21)
private short driveMode;
//目的地位置
@Order(22)
private Position2D destLocation;
//途经点数量
@Order(23)
@NumFlag
private short passPointsNum;
//途经点
@Order(24)
@RefNumFlag(value = "passPointsNum")
private List<Position2D> passPoints;
}
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