对完8.5

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

@@ -10,36 +10,24 @@ import com.cusc.adas.v2x.utils.RefNumFlag;
 
 /**
  * 异常车辆预警
- * @author huangml
  *
+ * @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;
+    private float velocity;
     //航向角
-	@Order(8)
-	private long  heading;
+    private double 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;
+    private float 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;
+//	@RefNumFlag(value="pointNum")
+    private List<PositionDto> alertPath;
     //车道数量
-	@Order(7)
     private short laneNum;
     //限速数据
-	@Order(1)
-	@RefNumFlag(value="laneNum")
-	private List<SpeedLimit> speedLmt;
-	
+//	@RefNumFlag(value="laneNum")
+    private List<SpeedLimitDto> speedLmt;
 
 
 }

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;
 
+import java.util.List;
+
 /**
  * 紧急车辆预警
- * @author huangml
  *
+ * @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;
+    private float alertRadius;
     //路径点数量
-	@Order(5)
     private short pointNum;
     //告警路径
-	@Order(6)
-	@RefNumFlag(value="pointNum")
-	private List<Position> alertPath;
+    private List<PositionDto> 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;
+    private float velocity;
     //航向角
-	@Order(9)
-	private long  heading;
+    private double heading;
 }

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

@@ -2,56 +2,36 @@ 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;
+    private int alertType = 6518;
+    //告警半径
+    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;
 
-	//碰撞预警目标 类型
-	@Order(7)
+    //碰撞预警目标 类型 0：行人；1：非机动车；2：机动车；3：其他； 0xFF 表示缺省，缺省则告警功能失效
     private short objType;
 
     //碰撞告警类型
-	@Order(8)
     private short fcwLevel;
 
-	//碰撞距离
-	@Order(9)
-	private  int  fcwDistance;
+    //碰撞距离 转成米
+    private float 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

@@ -11,16 +11,16 @@ public class LaneAdviceSpeedDto {
 	
 	//车速上限 单位：0.01 m/s
 	@Order(1)
-	private int spdMax;
+	private float spdMax;
 	//车速下限 单位：0.01 m/s
 	@Order(2)
-	private int spdMin;
+	private float spdMin;
 	//建议车速 单位：0.01 m/s
 	@Order(3)
-	private int spdExp;
+	private float spdExp;
 	//通行行为 单位：0.01 m/s
 	@Order(4)
-	private short maneuver;
+	private float 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/PositionDto.java

+package com.cusc.adas.v2x.clouddecision.dto;
+
+public class PositionDto {
+	//经度
+	private double longitude;
+	//纬度
+	private double latitude;
+	//高程 单位分米
+	private double elevation;
+}

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

@@ -8,68 +8,48 @@ 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
  *
+ * @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)
+//	@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

@@ -9,9 +9,14 @@ import com.cusc.adas.v2x.utils.Order;
  */
 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;
 
+	public short getRsisNum() {
+		return rsisNum;
+	}
+
+	public RSISDetailDto getRsis() {
+		return rsis;
+	}
 }

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

@@ -2,6 +2,9 @@ package com.cusc.adas.v2x.clouddecision.dto;
 
 import com.cusc.adas.v2x.utils.Order;
 
+import java.util.ArrayList;
+import java.util.List;
+
 /**
  * 关联路段
  * @author huangml
@@ -9,20 +12,19 @@ import com.cusc.adas.v2x.utils.Order;
  */
 public class RelSetpDto {
 
+	public 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;
+	private List<Short> referenceLanes;
 	
 }

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

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

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;
+import java.util.List;
 
 /**
  * 信号灯路口车速引导
- * @author huangml
  *
+ * @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;
+    private float type;
     //车辆所在位置 到停止线距离 单位：0.01m
-	@Order(6)
-	private int d2StopLine;
+    private float 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;
+//	private byte[] spdExps;
+    private List<LaneAdviceSpeedDto> spdExps;
     //车速上限
-	@Order(9)
-	private int spdMax;
+    private float spdMax;
     //车速下限
-	@Order(10)
-	private int spdMin;
+    private float spdMin;
     //建议车速
-	@Order(11)
-	private int  spdExp;
+    private float spdExp;
     //通行行为
-	private short maneuver;
+    private float maneuver;
     //绿灯通过前方路口数量
     private short numIntersection;
 }

src/main/java/com/cusc/adas/v2x/dto/VehAdviceDto.java → src/main/java/com/cusc/adas/v2x/clouddecision/dto/VehAdviceDto.java

-package com.cusc.adas.v2x.dto;
-
-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;
+package com.cusc.adas.v2x.clouddecision.dto;
 
 //云端决策建议信息数据结构
 public class VehAdviceDto<T> {
@@ -29,10 +23,22 @@ public class VehAdviceDto<T>  {
 
     //  命令长度
     private int dataLen;
-    //
 
-    @DynamicsClassDef(classtype="CloudDecision")
-    @DependencyDef(value="adviceType")
     private T adviceData;
 
+    public float getSpdExp() {
+        return spdExp;
+    }
+
+    public short getAdviceType() {
+        return adviceType;
+    }
+
+    public short getEventType() {
+        return eventType;
+    }
+
+    public T getAdviceData() {
+        return adviceData;
+    }
 }

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

@@ -27,7 +27,7 @@ public class AbnormalVehicle {
 	private int alertType;
 	//告警半径
 	@Order(4)
-	@OffsetDef(value=10)
+	@OffsetDef(value=0.1)
 	private int alertRadius;
 	//路径点数量
 	@Order(5)
@@ -38,10 +38,10 @@ public class AbnormalVehicle {
 	private List<Position> alertPath;
 	//车速
 	@Order(7)
-	@OffsetDef(value=36,type=2)
+	@OffsetDef(value=0.036,type=2)
 	private int  velocity;
 	//航向角
 	@Order(8)
-	@OffsetDef(value=10000)
+	@OffsetDef(value=0.0001)
 	private long  heading;
 }

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

@@ -29,7 +29,7 @@ public class AutoSpeedLimit {
 	private int alertType;
 	//告警半径 单位：dm
 	@Order(4)
-	@OffsetDef(value=10)
+	@OffsetDef(value=0.1)
 	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)

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;
 
+import java.util.List;
+
 /**
  * 紧急车辆预警
- * @author huangml
  *
+ * @author huangml
  */
 public class EmergencyVehicle {
     //事件唯一标识
     @Order(1)
-	@FieldDef(type="BYTE",isArray=true,length=36)
+    @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)
+    @FieldDef(type = "TIMESTAMP", isArray = false, length = 8)
     private long timestamp;
-	//告警类型
+    //告警类型固定值为 6511，用于匹配 RSI
     @Order(3)
-	private int alertType;
+    private int alertType = 6511;
     //告警半径
     @Order(4)
-	@OffsetDef(value=10,type=1)
+    @OffsetDef(value = 0.1)
     private int alertRadius;
     //路径点数量
     @Order(5)
     private short pointNum;
     //告警路径
     @Order(6)
-	@RefNumFlag(value="pointNum")
+    @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)
+    @OffsetDef(value = 0.03636)
     private int velocity;
     //航向角
     @Order(9)
-	@OffsetDef(value=10000)
+    @OffsetDef(value = 0.0001)
     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;
 
+import java.util.List;
+
 /**
  * 前向碰撞预警
- * @author huangml
  *
+ * @author huangml
  */
 public class FawWarnning {
     //事件唯一标识
     @Order(1)
-	@FieldDef(type="BYTE",isArray=true,length=36)
+    @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)
+    @FieldDef(type = "TIMESTAMP", isArray = false, length = 8)
     private long timestamp;
 
     //告警类型 固定值为 6518
     @Order(3)
-	private int alertType=6518;
+    private int alertType = 6518;
     //告警半径 单位：dm
     @Order(4)
-	@OffsetDef(value=10)
+    @OffsetDef(value = 0.1)
     private int alertRadius;
 
     //路径点数量
@@ -37,10 +37,10 @@ public class FawWarnning {
 
     //告警路径
     @Order(6)
-	@RefNumFlag(value="pointNum")
+    @RefNumFlag(value = "pointNum")
     private List<Position> alertPath;
 
-	//碰撞预警目标 类型
+    //碰撞预警目标 类型 0：行人；1：非机动车；2：机动车；3：其他； 0xFF 表示缺省，缺省则告警功能失效
     @Order(7)
     private short objType;
 
@@ -50,7 +50,7 @@ public class FawWarnning {
 
     //碰撞距离 单位：cm
     @Order(9)
-	@OffsetDef(value=100)
+    @OffsetDef(value = 0.01)
     private int fcwDistance;
 
     //碰撞预警目标 所在车道

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

@@ -3,6 +3,7 @@ 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;
@@ -55,6 +56,7 @@ public class RSISDetail {
 	private Position alertPath;
 	//交通标志/事  件作用中心线 范围半径
 	@Order(11)
+	@OffsetDef(value = 0.1)
 	private int pathRadius;
 	//事件状态
 	@Order(12)

src/main/java/com/cusc/adas/v2x/clouddecision/vo/TrafficLightInfo.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 java.util.List;
+
 /**
  * 信号灯路口车速引导
- * @author huangml
  *
+ * @author huangml
  */
 public class TrafficLightInfo {
     //事件唯一标识
     @Order(1)
-	@FieldDef(type="BYTE",isArray=true,length=36)
+    @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)
+    @FieldDef(type = "TIMESTAMP", isArray = false, length = 8)
     private long timestamp;
     //告警类型 固定值为 6523
     @Order(3)
-	private int alertType=6523;
+    private int alertType = 6523;
     //有效标识 0：失效；1：有效
     @Order(4)
     private short valid;
@@ -31,13 +32,14 @@ public class TrafficLightInfo {
     private short type;
     //车辆所在位置 到停止线距离 单位：0.01m
     @Order(6)
+    @OffsetDef(value = 0.01)
     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 
+    //N 组车道方向建议车速信息，
     @Order(8)
-	@RefNumFlag(value="spdExpNum")
+    @RefNumFlag(value = "spdExpNum")
     private List<LaneAdviceSpeed> spdExps;
     //车速上限
     @Order(9)

src/main/java/com/cusc/adas/v2x/vo/VehAdviceMessage.java → src/main/java/com/cusc/adas/v2x/clouddecision/vo/VehAdviceMessage.java

-package com.cusc.adas.v2x.vo;
+package com.cusc.adas.v2x.clouddecision.vo;
 
 import com.cusc.adas.v2x.utils.Order;
+import com.cusc.adas.v2x.vo.MessageHeadInfo;
+import com.cusc.adas.v2x.vo.VehAdviceInfo;
 
 /**
  * 云端决策建议信息

src/main/java/com/cusc/adas/v2x/dto/VehicleBodyDto.java

@@ -6,7 +6,7 @@ public class VehicleBodyDto {
 
     private VehicleStatusInfoDto vehicleStatusInfo;
 
-//	private  AutomaticDriveInfoDto automaticDriveInfo;
+    private AutomaticDriveInfoDto automaticDriveInfo;
 
     public VehicleInfoDto getVehicleInfo() {
         return vehicleInfo;
@@ -15,4 +15,8 @@ public class VehicleBodyDto {
     public VehicleStatusInfoDto getVehicleStatusInfo() {
         return vehicleStatusInfo;
     }
+
+    public AutomaticDriveInfoDto getAutomaticDriveInfo() {
+        return automaticDriveInfo;
+    }
 }