添加 云端决策建议信息数据结构 、云端辅助功能信息数据结构 、下行自定义功能信息数据结构

src/main/java/com/cusc/adas/v2x/clouddecision/vo/CloudDecisionMessageBody.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.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 云端决策建议信息报文体
+ * @author huangml
+ *
+ */
+public class CloudDecisionMessageBody<T> {
+	//车辆编号
+	@Order(1)
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private String vehicleId;
+	
+	//消息标识
+	@Order(2)
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private long seq;
+	
+	//建议类型 若为多功能决策时，取值为 254
+	@Order(3)
+	private short adviceType;
+	
+	//事件分类
+	@Order(4)
+	private short eventType;
+	
+	//车速建议 单位：0.01m/s
+	@Order(5)
+	@OffsetDef(value=36,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)
+	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；
+	//3：第三出口；4：第四出口；5：第五出口；6：第六出口；7：第七 出口；8：第八出口；9：左变道；10：右变道
+	@Order(7)
+	private short instructDirection;
+	
+	//命令长度 0 表示命令失效，此时该条消息全部无效
+	@Order(8)
+	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;
+}

src/main/java/com/cusc/adas/v2x/clouddecision/vo/EmergencyVehicle.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.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
+import com.cusc.adas.v2x.vo.Position;
+
+/**
+ * 紧急车辆预警
+ * @author huangml
+ *
+ */
+public class EmergencyVehicle {
+	//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
+	@Order(3)
+	private int alertType;
+	//告警半径
+	@Order(4)
+	@OffsetDef(value=10,type=1)
+	private int alertRadius;
+	//路径点数量
+	@Order(5)
+	private short pointNum;
+	//告警路径
+	@Order(6)
+	@RefNumFlag(value="pointNum")
+	private List<Position> alertPath;
+	//车辆类型 0：失效；1：救护车；2：警车；3：消防车；4-10： 预留
+	@Order(7)
+	private short  type;
+	//车速
+	@Order(8)
+	@OffsetDef(value=36,type=2)
+	private int  velocity;
+	//航向角
+	@Order(9)
+	@OffsetDef(value=10000)
+	private long  heading;
+}

src/main/java/com/cusc/adas/v2x/clouddecision/vo/FawWarnning.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.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
+import com.cusc.adas.v2x.vo.Position;
+
+/**
+ * 前向碰撞预警
+ * @author huangml
+ *
+ */
+public class FawWarnning {
+	//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 6518
+	@Order(3)
+	private int alertType;
+	//告警半径 单位：dm
+	@Order(4)
+	@OffsetDef(value=10)
+	private int alertRadius;
+	
+	//路径点数量
+	@Order(5)
+	private short pointNum;
+	
+	//告警路径
+	@Order(6)
+	@RefNumFlag(value="pointNum")
+	private List<Position> alertPath;
+	
+	//碰撞预警目标 类型
+	@Order(7)
+	private short objType;
+	
+	//碰撞告警类型
+	@Order(8)
+	private short fcwLevel;
+	
+	//碰撞距离 单位：cm
+	@Order(9)
+	@OffsetDef(value=100)
+	private  int  fcwDistance;
+	
+	//碰撞预警目标 所在车道
+	@Order(10)
+	private short fcwLaneId;
+	
+}

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

+package com.cusc.adas.v2x.clouddecision.vo;
+
+import com.cusc.adas.v2x.utils.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 车道方向建议车速
+ * @author huangml
+ *
+ */
+public class LaneAdviceSpeed {
+	
+	//车速上限 单位：0.01 m/s
+	@Order(1)
+	@OffsetDef(value=36,type=2)
+	private int spdMax;
+	//车速下限 单位：0.01 m/s
+	@Order(2)
+	@OffsetDef(value=36,type=2)
+	private int spdMin;
+	//建议车速 单位：0.01 m/s
+	@Order(3)
+	@OffsetDef(value=36,type=2)
+	private int spdExp;
+	//通行行为 单位：0.01 m/s
+	@Order(4)
+	@OffsetDef(value=36,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)
+	private short numIntersection;
+	
+}

src/main/java/com/cusc/adas/v2x/clouddecision/vo/RSISDetail.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;
+import com.cusc.adas.v2x.vo.Position;
+
+/**
+ * 通用 RSI 预警中交通事件和交通标志信息
+ * @author huangml
+ *
+ */
+public class RSISDetail {
+		
+	//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;
+	//交通事件位置 点
+	@Order(3)
+	private Position eventPosition;
+	
+	//道路交通事件 信息类型
+	@Order(4)
+	private int eventType;
+	
+	//事件来源
+	@Order(5)
+	private short eventSource;
+	
+	//事件（影响） 半径
+	@Order(6)
+	private  int eventRadius;
+	
+	//关联路段数量
+	@Order(7)
+	private int referenceLinksNum;
+	
+	//关联路段数量
+	@Order(8)
+	private RelSetp referenceLinks;
+	
+	//优先级
+	@Order(9)
+	private short priority;
+	
+	//交通事件/标  志作用中心线 坐标点
+	@Order(10)
+	private Position alertPath;
+	//交通标志/事  件作用中心线 范围半径
+	@Order(11)
+	private int pathRadius;
+	//事件状态
+	@Order(12)
+	private short status;
+	
+	//自定义内容长度
+	@Order(13)
+	private int userdefinedDataLength;
+	
+	@Order(14)
+	//自定义内容
+	@RefNumFlag(value="userdefinedDataLength")
+	private String userdefinedData;
+	
+	
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.clouddecision.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 通用 RSI 预警
+ * @author huangml
+ *
+ */
+public class RSIWarnning {
+	//交通事件和交 通标志信息数 量
+	@Order(1)
+	private short rsisNum;
+	@Order(2)
+	private RSISDetail rsis;
+	
+}

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

+package com.cusc.adas.v2x.clouddecision.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 关联路段
+ * @author huangml
+ *
+ */
+public class RelSetp {
+	
+	//上游节点编号
+	@Order(1)
+	private long  upstreamNodeId;
+	
+	//下游节点编号
+	@Order(2)
+	private long downstreamNodeId;
+	
+	//受影响车道数量
+	@Order(3)
+	private short referenceLanesNum;
+	
+	//受影响车道
+	@Order(4)
+	private short referenceLanes;
+	
+}

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

+package com.cusc.adas.v2x.clouddecision.vo;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 信号灯路口车速引导
+ * @author huangml
+ *
+ */
+public class TrafficLight {
+	//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;
+	//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)
+	private byte[] 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/selfdefine/dto/SelfDefineDetailDto.java

+package com.cusc.adas.v2x.selfdefine.dto;
+
+import com.cusc.adas.v2x.vo.Position2D;
+
+/**
+ * 
+ * @author huangml
+ *
+ */
+public class SelfDefineDetailDto {
+	//预警类型
+	private short type;
+	
+	//RV经纬度
+	private Position2D rvLocation;
+	
+	//RV方向 
+	private  long rvDirection;
+	
+	//预警级别
+	private  long level;
+	
+	//预警距离
+	private  long distance;
+}

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

+package com.cusc.adas.v2x.selfdefine.dto;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.Order;
+
+public class SelfDefineMessageBodyDto<T> {
+	//车辆编号
+	@Order(1)
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private String vehicleId;
+	
+	//消息标识
+	@Order(2)
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private long seq;
+	
+	//数据长度
+	private int dataLen;
+	
+	//数据内容
+	private List<T> data;
+	
+	
+}

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

+package com.cusc.adas.v2x.selfdefine.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.Position2D;
+
+/**
+ * 
+ * @author huangml
+ *
+ */
+public class SelfDefineDetail {
+	//预警类型
+	@Order(1)
+	private short type;
+	
+	//RV经纬度
+	@Order(2)
+	private Position2D rvLocation;
+	
+	//RV方向 
+	@Order(3)
+	private  long rvDirection;
+	
+	//预警级别
+	@Order(4)
+	private  long level;
+	
+	//预警距离
+	@Order(5)
+	private  long distance;
+}

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

+package com.cusc.adas.v2x.selfdefine.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.MessageHeadInfo;
+
+/**
+ * 自定义功能信息
+ * @author huangml
+ *
+ */
+public class SelfDefineMessage {
+	//报文头
+	@Order(1)
+	private  MessageHeadInfo messageHeadInfo;
+	
+	@Order(2)
+	private SelfDefineMessageBody selfDefineMessageBody;
+}

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

+package com.cusc.adas.v2x.selfdefine.vo;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.Order;
+
+public class SelfDefineMessageBody<T> {
+	//车辆编号
+	@Order(1)
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private String vehicleId;
+	
+	//消息标识
+	@Order(2)
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private long seq;
+	
+	//数据长度
+	@Order(3)
+	private int dataLen;
+	
+	//数据内容
+	@Order(4)
+	private List<T> data;
+	
+	
+}

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

@@ -4,6 +4,7 @@ package com.cusc.adas.v2x.server;
 
 
 
+import com.cusc.adas.v2x.clouddecision.vo.CloudDecisionMessage;
 import com.cusc.adas.v2x.dto.VehicleBodyDto;
 import com.cusc.adas.v2x.utils.Parse;
 import com.cusc.adas.v2x.vo.VehicleMessage;
@@ -43,14 +44,20 @@ public class UdpServerHandler extends SimpleChannelInboundHandler<DatagramPacket
         if(hexString.substring(10,12).equals("15")) {
 	        ByteBuf byteBuf = Unpooled.wrappedBuffer(req);
 	        VehicleMessage  vehicleMessage = Parse.parse(byteBuf,new VehicleMessage()); 
-	        
-	        
 	        System.out.println("Received message: " + vehicleMessage);
 	        VehicleBodyDto vehicleBodyDto =  new VehicleBodyDto();
 	        Parse.convoterBean(vehicleMessage.getVehicleMessageBody(), vehicleBodyDto);
 	        
 	        System.out.println("Received message: " + vehicleBodyDto);
 	        
+        }else if(hexString.substring(10,12).equals("15")) {
+        	 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);
+ 	        
+// 	        System.out.println("Received message: " + vehicleBodyDto);
         }
         
        

src/main/java/com/cusc/adas/v2x/utils/SM4Utils.java

@@ -20,9 +20,9 @@ public class SM4Utils {
     }
     
     /**
-     * ???? SM4 ???
-     * @return ????? Base64 ?????????
-     * @throws Exception ??
+     * 生成 SM4 密钥
+     * @return 密钥的 Base64 编码字符串
+     * @throws Exception 异常
      */
     public static String generateKey() throws Exception {
         KeyGenerator kg = KeyGenerator.getInstance(ALGORITHM_NAME, "BC");
@@ -32,11 +32,11 @@ public class SM4Utils {
     }
   
     /**
-     * SM4 ????
-     * @param plainText ????
-     * @param key ????? Base64 ?????????
-     * @return ????? Base64 ?????????
-     * @throws Exception ??
+     * SM4 加密
+     * @param plainText 明文
+     * @param key 密钥的 Base64 编码字符串
+     * @return 密文的 Base64 编码字符串
+     * @throws Exception 异常
      */
     public static String encrypt(String plainText, String key) throws Exception {
         byte[] keyBytes = Base64.getDecoder().decode(key);
@@ -48,11 +48,11 @@ public class SM4Utils {
     }
 
     /**
-     * SM4 ????
-     * @param cipherText ????? Base64 ?????????
-     * @param key ????? Base64 ?????????
-     * @return ????
-     * @throws Exception ??
+     * SM4 解密
+     * @param cipherText 密文的 Base64 编码字符串
+     * @param key 密钥的 Base64 编码字符串
+     * @return 明文
+     * @throws Exception 异常
      */
     public static String decrypt(String cipherText, String key) throws Exception {
         byte[] keyBytes = Base64.getDecoder().decode(key);

src/main/java/com/cusc/adas/v2x/vehiclesubscribe/vo/VehicleSubscribeMessage.java

+package com.cusc.adas.v2x.vehiclesubscribe.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.MessageHeadInfo;
+
+/**
+ * 
+ * @author huangml
+ *
+ */
+public class VehicleSubscribeMessage {
+	//报文头
+	@Order(1)
+	private  MessageHeadInfo messageHeadInfo;
+	
+	@Order(2)
+	private VehicleSubscribeMessageBody vehicleSubscribeMessageBody;
+}

src/main/java/com/cusc/adas/v2x/vehiclesubscribe/vo/VehicleSubscribeMessageBody.java

+package com.cusc.adas.v2x.vehiclesubscribe.vo;
+
+public class VehicleSubscribeMessageBody {
+	
+	private String vehicleId;
+	
+	private byte subsLen;
+	
+	private Byte[] funcSubscribe;
+	
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.vo;
+
+/**
+ * 限速 信息
+ * @author huangml
+ *
+ */
+public class SpeedLimit {
+	
+	//车道编 号
+	private short laneId;
+	//限速值
+	private short speedLimit;
+}