first

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

+package com.cusc.adas.v2x.vo;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 感知物信息
+ * @author huangml
+ *
+ */
+public class DetectionInfo {
+	//唯一编号
+	@Order(1)
+	private  short[] uuid;
+	//目标编号
+	@Order(2)
+	private  int objId;
+	//目标类型
+	@Order(3)
+	
+	private  short  type;
+	
+	//目标状态
+	@Order(4)
+	private  short status;
+	
+	//目标长度
+	@Order(5)
+	private  int len;
+	
+	//目标宽度
+	@Order(6)
+	private  int width;
+	
+	//目标高度
+	@Order(7)
+	private  int height;
+	//经度
+	@Order(8)
+	private  long  longitude;
+	//纬度
+	@Order(9)
+	private  long  latitude;
+	
+	//东西向距离
+	@Order(10)
+	private  long locEast;
+	//南北向距离
+	@Order(11)
+	private  long locNorth;
+	//位置精度等级
+	@Order(12)
+	private  short posConfidence;
+	//高程
+	@Order(13)
+	private  long elevation;
+	//高程精度
+	@Order(14)
+	private  short elevConfidence;
+	//速度
+	@Order(15)
+	private  int  speed;
+	//速度精度等级
+	@Order(16)
+	private  short  speedConfidence;
+	//东西向速度
+	@Order(17)
+	private  int speedEast;
+	//东西向速度精 度等级
+	@Order(18)
+	private  short  speedEastConfidence;
+	//南北向速度
+	@Order(19)
+	private  int  speedNorth;
+	//南北向速度精 度等级
+	@Order(20)
+	private  short  speedNorthConfidence;
+	
+	//航向角
+	@Order(21)
+	private long heading;
+	
+	//航向精度等级
+	@Order(22)
+	private  short headConfidence;
+	
+	//目标纵向加速 度
+	@Order(23)
+	private int accelVert ;
+	//目标纵向加速 度置精度等级
+	@Order(24)
+	private  short  accelVertConfidence;
+	//目标跟踪时长
+	@Order(25)
+	private long trackedTimes;
+	//目标历史轨迹 数量
+	@Order(26)
+	private int histLocNum;
+	//目标历史轨迹 列表
+	@Order(27)
+	private List<TrajectoryInfo>  histLocs;
+	//目标预测轨迹 数量
+	@Order(28)
+	private int predLocNum;
+	//目标预测轨迹 列表
+	@Order(29)
+	private List<TrajectoryInfo> predLocs;
+	
+	//目标所在车道编号
+	@Order(30)
+	private short laneId;
+	//滤波信息的类型
+	@Order(31)
+	private short filterInfoType;
+	//卡尔曼滤波信息
+	@Order(32)
+	private List<FilterInfo> filterInfo;
+	//车牌号字节数
+	@Order(33)
+	private short plateNoLen;
+	//车牌号
+	@Order(34)
+	private byte[] plateNo;
+	
+	
+	
+	
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.vo;
+
+import java.util.List;
+
+/**
+ * 滤波信息
+ * @author huangml
+ *
+ */
+public class FilterInfo {
+	private int dimension; // 状态量协方差矩阵的维度
+    private List<Integer> varNIndex; // 状态量所在序号列表
+    private List<Cov> covs; // 卡尔曼滤波的更新步骤得到的状态量协方差矩阵
+    private List<Cov> covsPred; // 卡尔曼滤波预测步骤得到的状态量协方差矩阵
+    private List<Cov> varsPred; // 卡尔曼滤波预测步骤得到的状态量
+	public int getDimension() {
+		return dimension;
+	}
+	public void setDimension(int dimension) {
+		this.dimension = dimension;
+	}
+	public List<Integer> getVarNIndex() {
+		return varNIndex;
+	}
+	public void setVarNIndex(List<Integer> varNIndex) {
+		this.varNIndex = varNIndex;
+	}
+	public List<Cov> getCovs() {
+		return covs;
+	}
+	public void setCovs(List<Cov> covs) {
+		this.covs = covs;
+	}
+	public List<Cov> getCovsPred() {
+		return covsPred;
+	}
+	public void setCovsPred(List<Cov> covsPred) {
+		this.covsPred = covsPred;
+	}
+	public List<Cov> getVarsPred() {
+		return varsPred;
+	}
+	public void setVarsPred(List<Cov> varsPred) {
+		this.varsPred = varsPred;
+	}
+    
+    
+}

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

+package com.cusc.adas.v2x.vo;
+
+public enum GearEnum {
+	Gear_1((byte)1), Gear_2((byte)2), Gear_3((byte)3), Gear_4((byte)4),
+	Gear_D((byte)31),Gear_R((byte)32),Gear_P((byte)33),Gear_N((byte)34),
+	Gear_S((byte)35),Gear_L((byte)36),Gear_H((byte)37),Gear_HL((byte)38);
+
+    private  byte value;
+    
+    GearEnum(byte value) {
+        this.value = value;
+    }
+
+    public byte getValue() {
+        return value;
+    }
+}

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

+package com.cusc.adas.v2x.vo;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.Order;
+
+//公共报文头信息
+public class MessageHeadInfo {
+	//标识位 0xF2
+	@Order(1)
+	private  short flag;
+	//数据段长度
+	@Order(2)
+	private  long bodyLenth;
+	//数据类别
+	@Order(3)
+	private  short dataType;
+	//版本号
+	@Order(4)
+	private  short  version;
+	//时间戳
+	@Order(5)
+	@FieldDef(type="TIMESTAMP",isArray=false,length=8)
+	private  long  timestamp;
+	//控制内容
+	@Order(6)
+	private  short  controlContent;
+}

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

+package com.cusc.adas.v2x.vo;
+
+import com.cusc.adas.v2x.utils.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+
+public class Position {
+	//经度
+	@Order(1)
+	@OffsetDef(value=0.0000001,minValidLength=10)
+	private long longitude;
+	//纬度
+	@Order(2)
+	@OffsetDef(value=0.0000001,minValidLength=9)
+	private long latitude;
+	//高程
+	@Order(3)
+	@OffsetDef(value=0.1)
+	private long elevation;
+}

src/main/java/com/cusc/adas/v2x/vo/Position2D.java

+package com.cusc.adas.v2x.vo;
+
+import com.cusc.adas.v2x.utils.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+
+public class Position2D {
+	//经度
+	@Order(1)
+	@OffsetDef(value=10000000)
+	private long longitude;
+	//纬度
+	@Order(2)
+	@OffsetDef(value=10000000)
+	private long latitude;
+}

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

+package com.cusc.adas.v2x.vo;
+
+import com.cusc.adas.v2x.utils.OffsetDef;
+import com.cusc.adas.v2x.utils.Order;
+
+//轨迹点
+public class TracePoint {
+	//期望经度
+	@Order(1)
+	@OffsetDef(value=10000000)
+	private long expLongitude;
+	//期望纬度
+	@Order(2)
+	@OffsetDef(value=10000000)
+	private long expLatitude;
+	//期望速度
+	@Order(3)
+	private int expSpeed;
+
+	//期望加速度
+	@Order(4)
+	
+	private int expAcceleration;
+	
+	//期望航向角
+	@Order(5)
+	private long expHeading;
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 
+ * @author huangml
+ *
+ */
+public class TrajectoryInfo {
+	//位置
+	@Order(1)
+	private Position2D 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/vo/VehicleInfo.java

+package com.cusc.adas.v2x.vo;
+
+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;
+/**
+ * 车辆基础信息
+ * @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=36,type=2)
+	private int  velocityGNSS;
+	//位置
+	@Order(5)
+	private Position  position;
+	//航向角 单位为 1e-4 °
+	@Order(6)
+	@OffsetDef(value=10000)
+	private long heading;
+	
+	//档位
+	@Order(7)
+	private short tapPos ;
+	//方向盘转角 单位为 1e-4 °
+	@Order(8)
+	@OffsetDef(value=10000)
+	private long  steeringAngle;
+	//当前车速 单位：0.01m/s
+	@Order(9)
+	@OffsetDef(value=36,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 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;
+	
+	
+	
+	
+	
+	
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.vo;
+
+public class VehicleInfoMap {
+	//private static Map<Integer String>
+}

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

+package com.cusc.adas.v2x.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+
+/**
+ * 
+ * @author huangml
+ *
+ */
+public class VehicleMessage {
+	//报文头
+	@Order(1)
+	private  MessageHeadInfo messageHeadInfo;
+	//报文体
+	@Order(2)
+	private  VehicleMessageBody vehicleMessageBody;
+	public MessageHeadInfo getMessageHeadInfo() {
+		return messageHeadInfo;
+	}
+	public void setMessageHeadInfo(MessageHeadInfo messageHeadInfo) {
+		this.messageHeadInfo = messageHeadInfo;
+	}
+	public VehicleMessageBody getVehicleMessageBody() {
+		return vehicleMessageBody;
+	}
+	public void setVehicleMessageBody(VehicleMessageBody vehicleMessageBody) {
+		this.vehicleMessageBody = vehicleMessageBody;
+	}
+	
+	
+	
+	
+}

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

+package com.cusc.adas.v2x.vo;
+
+import com.cusc.adas.v2x.utils.Order;
+
+//车辆运行状态报文体
+public class VehicleMessageBody {
+	//车辆基础信息
+	@Order(1)
+	private  VehicleInfo  vehicleInfo;
+//	//车辆辅助驾驶信息及状态信息
+//	@Order(2)
+//	private  VehicleStatusInfo  vehicleStatusInfo;
+//	//车辆自动驾驶信息
+//	@Order(3)
+//	private  AutomaticDriveInfo automaticDriveInfo;
+}

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

+package com.cusc.adas.v2x.vo;
+
+import java.util.List;
+
+import com.cusc.adas.v2x.utils.FieldDef;
+import com.cusc.adas.v2x.utils.NumFlag;
+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 VehicleStatusInfo {
+	@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 short mileage;
+	//sweeping状态
+	@Order(12)
+	private short sweepingFlag;
+	//watering状态
+	@Order(13)
+	private short wateringFlag;
+	//油量
+	@Order(14)
+	private int fuelGauge;
+	//电池剩余电量
+	@Order(15)
+	private int soc;
+	//电池温度
+	@Order(16)
+	private short temperature;
+	
+	//预计续航里程
+	@Order(17)
+	private float 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
+	@Order(21)
+	private short vehMode;
+	
+	//充电状态
+	@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
+	@Order(27)
+	@RefNumFlag(value="wheelNum")
+	private int[]  wheelVelocity;
+	//胎压
+	@Order(28)
+	@RefNumFlag(value="wheelNum")
+	private int[]  tirePressure;
+	//车灯状态
+	@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)
+	@RefNumFlag(value="userdefinedDataLength")
+	@FieldDef(type="BYTE",isAutoLength=true)
+	private String userdefinedData;
+	
+}

src/test/java/com/cusc/adas/v2x/ExampleUnitTest.kt

+package com.cusc.adas.v2x
+
+import org.junit.Test
+
+import org.junit.Assert.*
+
+/**
+ * Example local unit test, which will execute on the development machine (host).
+ *
+ * See [testing documentation](http://d.android.com/tools/testing).
+ */
+class ExampleUnitTest {
+    @Test
+    fun addition_isCorrect() {
+        assertEquals(4, 2 + 2)
+    }
+}
\ No newline at end of file

target/classes/META-INF/MANIFEST.MF

+Manifest-Version: 1.0
+Built-By: huangml
+Build-Jdk: 17.0.2
+Created-By: Maven Integration for Eclipse
+

target/classes/META-INF/maven/com.cusc/earlywarning/pom.properties

+#Generated by Maven Integration for Eclipse
+#Tue Jun 03 12:12:04 CST 2025
+m2e.projectLocation=D\:\\eclipse-workspace\\earlywarning
+m2e.projectName=earlywarning
+groupId=com.cusc
+artifactId=earlywarning
+version=0.0.1-SNAPSHOT

target/classes/META-INF/maven/com.cusc/earlywarning/pom.xml

+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>com.cusc</groupId>
+  <artifactId>earlywarning</artifactId>
+  <version>0.0.1-SNAPSHOT</version>
+  <name>earlywarning</name>
+  <dependencies>
+  	<dependency>   
+	    <groupId>org.bouncycastle</groupId>
+	    <artifactId>bcprov-jdk15on</artifactId>
+	    <version>1.70</version>
+	</dependency>
+	<dependency>
+			<groupId>com.alibaba</groupId>
+			<artifactId>fastjson</artifactId>
+			<version>2.0.56</version>
+		</dependency>
+	<dependency>
+
+		<groupId>org.fusesource.mqtt-client</groupId>
+		
+		<artifactId>mqtt-client</artifactId>
+		
+		<version>1.12</version>
+
+	</dependency>
+	
+	<dependency>
+	    <groupId>org.eclipse.paho</groupId>
+	    <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
+	    <version>1.2.5</version>
+	</dependency>
+	<dependency>
+	  <groupId>io.netty</groupId>
+	  <artifactId>netty-all</artifactId>
+	  <version>4.0.42.Final</version>
+	</dependency>
+	<dependency>
+	    <groupId>org.projectlombok</groupId>
+	    <artifactId>lombok</artifactId>
+	    <version>1.18.12</version>
+	</dependency>
+<!-- slf4j -->
+	<dependency>
+	    <groupId>org.slf4j</groupId>
+	    <artifactId>slf4j-api</artifactId>
+	    <version>1.7.7</version>
+	</dependency>
+	<dependency>
+	    <groupId>io.netty</groupId>
+	    <artifactId>netty-all</artifactId>
+	    <version>4.1.68.Final</version>
+	</dependency>
+<!-- slf4j 到 log4j 的实现 -->
+	<dependency>
+	    <groupId>org.apache.logging.log4j</groupId>
+	    <artifactId>log4j-slf4j-impl</artifactId>
+	    <version>2.9.1</version>
+	</dependency>                     
+  </dependencies>
+</project>
\ No newline at end of file