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/assist/dto/AssistMessageBodyDto.java

+package com.cusc.adas.v2x.assist.dto;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.Order;
+
+public class AssistMessageBodyDto<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;
+	
+	//辅助功能类别
+	@Order(3)
+	private short astFuncType;
+	
+	//命令长度
+	@Order(4)
+	private int dataLen;
+	
+	//命令数据
+	@Order(5)
+	private List<T> infoData;
+	
+}

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

+package com.cusc.adas.v2x.assist.dto;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
+
+/**
+ * 信号灯
+ * @author huangml
+ *
+ */
+public class TrafficLightDto {
+	//红绿灯控制方 式 1：固定周期；2：手动控制；3：黄闪控制，4-254： 预留
+	@Order(1)
+	private  short controlMode;
+	//区域 ID 信号灯作用位置所在区域唯一编号,与路口 ID 一起确定 唯一路口
+	@Order(2)
+	private  int regionId;
+	
+	//路口 ID 信号灯作用位置在该区域内唯一编号,与区域 ID 一起确 定唯一路口
+	@Order(3)
+	private  int nodeId;
+	
+	//车辆所在车道 对应信号灯相 位数量
+	@Order(4)
+	private  int numOfLanePhase;
+	//车辆所在车道 对应信号灯相 位 ID 列表
+	@Order(5)
+	@RefNumFlag(value="numOfLanePhase")
+	private List<Short> lanePhaseIds;
+	
+	//车辆到前方停 止线距离
+	@Order(6)
+	private  int d2StopLine;
+	
+	//相位数量
+	@Order(7)
+	private  short  phaseNumber;
+	
+	//信号灯相位状 态
+	@Order(8)
+	@RefNumFlag(value="phaseNumber")
+	private List<TrafficLightStatusDto> phaseState;
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.assist.dto;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 信号灯相位状态
+ * @author huangml
+ *
+ */
+public class TrafficLightStatusDto {
+	//相位编号
+	@Order(1)
+	private  short phaseID;
+	
+	//当前灯色
+	@Order(2)
+	private  short lightState;
+	
+	//当前灯色剩余 时间
+	@Order(3)
+	private  short timeLeft;
+	
+	//下一阶段灯色
+	@Order(4)
+	private  short nextLightState;
+	
+	//下一阶段灯色 持续时间
+	@Order(5)
+	private  short nextLightTime;
+	//灯组类型
+	@Order(6)
+	private  short lightType;
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.assist.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.MessageHeadInfo;
+
+/**
+ * 辅助功能信息
+ * @author huangml
+ *
+ */
+public class AssistMessage {
+	//报文头
+	@Order(1)
+	private  MessageHeadInfo messageHeadInfo;
+	@Order(2)
+	private AssistMessageBody assistMessageBody;
+	
+}

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

+package com.cusc.adas.v2x.assist.vo;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.Order;
+
+public class AssistMessageBody<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;
+	
+	//辅助功能类别
+	@Order(3)
+	private short astFuncType;
+	
+	//命令长度
+	@Order(4)
+	private int dataLen;
+	
+	//命令数据
+	@Order(5)
+	private List<T> infoData;
+	
+}

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

+package com.cusc.adas.v2x.assist.vo;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.utils.RefNumFlag;
+
+/**
+ * 信号灯
+ * @author huangml
+ *
+ */
+public class TrafficLight {
+	//红绿灯控制方 式 1：固定周期；2：手动控制；3：黄闪控制，4-254： 预留
+	@Order(1)
+	private  short controlMode;
+	//区域 ID 信号灯作用位置所在区域唯一编号,与路口 ID 一起确定 唯一路口
+	@Order(2)
+	private  int regionId;
+	
+	//路口 ID 信号灯作用位置在该区域内唯一编号,与区域 ID 一起确 定唯一路口
+	@Order(3)
+	private  int nodeId;
+	
+	//车辆所在车道 对应信号灯相 位数量
+	@Order(4)
+	private  int numOfLanePhase;
+	//车辆所在车道 对应信号灯相 位 ID 列表
+	@Order(5)
+	@RefNumFlag(value="numOfLanePhase")
+	private List<Short> lanePhaseIds;
+	
+	//车辆到前方停 止线距离
+	@Order(6)
+	private  int d2StopLine;
+	
+	//相位数量
+	@Order(7)
+	private  short  phaseNumber;
+	
+	//信号灯相位状 态
+	@Order(8)
+	@RefNumFlag(value="phaseNumber")
+	private List<TrafficLightStatus> phaseState;
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.assist.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 信号灯相位状态
+ * @author huangml
+ *
+ */
+public class TrafficLightStatus {
+	//相位编号
+	@Order(1)
+	private  short phaseID;
+	
+	//当前灯色
+	@Order(2)
+	private  short lightState;
+	
+	//当前灯色剩余 时间
+	@Order(3)
+	private  short timeLeft;
+	
+	//下一阶段灯色
+	@Order(4)
+	private  short nextLightState;
+	
+	//下一阶段灯色 持续时间
+	@Order(5)
+	private  short nextLightTime;
+	//灯组类型
+	@Order(6)
+	private  short lightType;
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.clouddecision.dto;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.dto.PositionDto;
+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;
+
+/**
+ * 异常车辆预警
+ * @author huangml
+ *
+ */
+public class AbnormalVehicleDto {
+	//事件唯一标识
+	@FieldDef(type="BYTE",isArray=true,length=36)
+	@Order(1)
+	private String  uuid;
+	//事件生成时间 戳
+	@Order(2)
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private long  timestamp;
+	//告警类型 用于匹配 RSI，取值为 6503，6505，6506，6507，6508
+	@Order(3)
+	private int alertType;
+	//告警半径
+	@Order(4)
+	private float alertRadius;
+	//路径点数量
+	@Order(5)
+	private short pointNum;
+	//告警路径
+	@Order(6)
+	@RefNumFlag(value="pointNum")
+	private List<PositionDto> alertPath;
+	//车速
+	@Order(7)
+	
+	private int  velocity;
+	//航向角
+	@Order(8)
+	private long  heading;
+}

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

+package com.cusc.adas.v2x.clouddecision.dto;
+/**
+ * 动态车道级限速
+ * @author huangml
+ *
+ */
+
+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;
+import com.cusc.adas.v2x.vo.SpeedLimit;
+
+public class AutoSpeedLimitDto {
+	//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 6517
+	@Order(3)
+	private int alertType;
+	//告警半径 单位：dm
+	@Order(4)
+	private int alertRadius;
+	//路径点数量 告警路径中路径点数量，取值为 0 时，不发送告警路径
+	@Order(5)
+	private short pointNum;
+	//告警路径
+	@Order(6)
+	@RefNumFlag(value="pointNum")
+	private List<Position> alertPath;
+	//车道数量
+	@Order(7)
+	private short laneNum;
+	//限速数据
+	@Order(1)
+	@RefNumFlag(value="laneNum")
+	private List<SpeedLimit> speedLmt;
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.clouddecision.dto;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 云端决策建议信息报文体
+ * @author huangml
+ *
+ */
+public class CloudDecisionMessageBodyDto<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)
+	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)
+	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/dto/EmergencyVehicleDto.java

+package com.cusc.adas.v2x.clouddecision.dto;
+
+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;
+
+/**
+ * 紧急车辆预警
+ * @author huangml
+ *
+ */
+public class EmergencyVehicleDto {
+	//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)
+	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)
+	private int  velocity;
+	//航向角
+	@Order(9)
+	private long  heading;
+}

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

+package com.cusc.adas.v2x.clouddecision.dto;
+
+import java.util.List;
+
+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.utils.RefNumFlag;
+
+/**
+ * 前向碰撞预警
+ * @author huangml
+ *
+ */
+public class FawWarnningDto {
+	//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)
+	private int alertRadius;
+	
+	//路径点数量
+	@Order(5)
+	private short pointNum;
+	
+	//告警路径
+	@Order(6)
+	@RefNumFlag(value="pointNum")
+	private List<PositionDto> 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
+	@Order(9)
+	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/dto/LaneAdviceSpeedDto.java

+package com.cusc.adas.v2x.clouddecision.dto;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 车道方向建议车速
+ * @author huangml
+ *
+ */
+public class LaneAdviceSpeedDto {
+	
+	//车速上限 单位：0.01 m/s
+	@Order(1)
+	private int spdMax;
+	//车速下限 单位：0.01 m/s
+	@Order(2)
+	private int spdMin;
+	//建议车速 单位：0.01 m/s
+	@Order(3)
+	private int spdExp;
+	//通行行为 单位：0.01 m/s
+	@Order(4)
+	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/dto/RSISDetailDto.java

+package com.cusc.adas.v2x.clouddecision.dto;
+
+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.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 RSISDetailDto {
+		
+	//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 PositionDto 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 RelSetpDto 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 PositionDto 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/dto/RSIWarnningDto.java

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

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

+package com.cusc.adas.v2x.clouddecision.dto;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 关联路段
+ * @author huangml
+ *
+ */
+public class RelSetpDto {
+	
+	//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/dto/TrafficLightDto.java

+package com.cusc.adas.v2x.clouddecision.dto;
+
+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 TrafficLightDto {
+	//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/clouddecision/vo/AbnormalVehicle.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;
+
+/**
+ * 异常车辆预警
+ * @author huangml
+ *
+ */
+public class AbnormalVehicle {
+	//事件唯一标识
+	@FieldDef(type="BYTE",isArray=true,length=36)
+	@Order(1)
+	private String  uuid;
+	//事件生成时间 戳
+	@Order(2)
+	@FieldDef(type="BYTE",isArray=true,length=8)
+	private long  timestamp;
+	//告警类型 用于匹配 RSI，取值为 6503，6505，6506，6507，6508
+	@Order(3)
+	private int alertType;
+	//告警半径
+	@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;
+	//车速
+	@Order(7)
+	@OffsetDef(value=36,type=2)
+	private int  velocity;
+	//航向角
+	@Order(8)
+	@OffsetDef(value=10000)
+	private long  heading;
+}

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

+package com.cusc.adas.v2x.clouddecision.vo;
+/**
+ * 动态车道级限速
+ * @author huangml
+ *
+ */
+
+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;
+import com.cusc.adas.v2x.vo.SpeedLimit;
+
+public class AutoSpeedLimit {
+	//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 6517
+	@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 告警路径中路径点数量，取值为 0 时，不发送告警路径
+	@Order(5)
+	private short pointNum;
+	//告警路径
+	@Order(6)
+	@RefNumFlag(value="pointNum")
+	private List<Position> alertPath;
+	//车道数量
+	@Order(7)
+	private short laneNum;
+	//限速数据
+	@Order(1)
+	@RefNumFlag(value="laneNum")
+	private List<SpeedLimit> speedLmt;
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.clouddecision.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.MessageHeadInfo;
+
+public class CloudDecisionMessage {
+	//报文头
+	@Order(1)
+	private  MessageHeadInfo messageHeadInfo;
+	
+	@Order(2)
+	private CloudDecisionMessageBody cloudDecisionMessageBody;
+}