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[change] 更新PB

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This commit is contained in:
xinfengkun
2022-11-03 17:10:52 +08:00
parent 76acbbeba2
commit 1a007143e4
3 changed files with 27 additions and 26 deletions
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1
libraries/mogo-adas-data/src/main/proto/chassis.proto
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@@ -23,6 +23,7 @@ enum PilotMode {
MODE_AUTO_DRIVE = 1;
MODE_STEER_ONLY = 2;
MODE_SPEED_ONLY = 3;
MODE_REMOTE_DRIVE = 6;
}
enum LongitudeDrivingMode {

22
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -97,7 +97,7 @@ message TrackedSource
message TrackedObject
{
uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle,
uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle,
//5:TrafficSign, 6:Bus, 7:CellPhone, 8:Truck, 9:Bottle, 10:TrafficLight,
//11:Rider, 12:TriangleRoadblock, 13:WarningTriangle, 100:Unknown,
//501:RoadWork_occupy_0501, 502:RoadWork_break_0502
@@ -125,7 +125,7 @@ message TrackedObjects
// message definition for MsgTypeGnssInfo
message GnssInfo
{
double longitude = 1; //经度
double longitude = 1; //经度
double latitude = 2; //纬度
double altitude = 3; //海拔
double heading = 4; //航向角
@@ -143,11 +143,11 @@ message GnssInfo
// message definition for MessageType: MsgTypeAutopilotState
message AutopilotState
{
uint32 state = 1; //telematic自动驾驶状态（底盘自动驾驶状态+1） 1:非自动驾驶, 2:自动驾驶中,7:平行驾驶
uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中, 7:平行驾驶中
uint32 camera = 2; //camera节点状态 1:开启，0:关闭
uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
uint32 autopilotMode = 5; //透传底盘自动驾驶状态 0: 非自动驾驶，1: 自动驾驶，6平行驾驶
uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
double speed = 6; //惯导车速 m/s
string reason = 7; //不可用原因(abandoned)
}
@@ -167,13 +167,13 @@ message AutopilotState
// message definition for MessageType: MsgTypePlanningObjects
message PlanningObject
{
uint32 uuid = 1;
uint32 uuid = 1;
uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事 0是leading障碍物，1是避障和择机的障碍物
}
message PlanningObjects
{
repeated PlanningObject objs = 1;
repeated PlanningObject objs = 1;
}
// message definition for MessageType: MsgTypeOBU
@@ -203,7 +203,7 @@ message TrajectoryDownloadReq
}
// message definition for MessageType: MsgTypeBasicInfoReq
message BasicInfoReq
message BasicInfoReq
{
}
@@ -226,7 +226,7 @@ message Location
message RouteInfo
{
Location startLocation = 1;
Location startLocation = 1;
string startName = 2;
Location endLocation = 3;
string endName = 4;
@@ -265,7 +265,7 @@ message CarConfigResp
string macAddress = 3;
ProtocolVersion protocolVersion = 4; //通信协议版本
double speedLimit = 5; //自动驾驶限速, 单位：m/s
double maxSpeedLimit = 6; //最大自动驾驶限速, 单位：m/s
double maxSpeedLimit = 6; //最大自动驾驶限速, 单位：m/s
double minAcceleration = 7; //最小加速度, 单位：m/s²
double maxAcceleration = 8; //最大加速度, 单位：m/s²
}
@@ -308,7 +308,7 @@ message GlobalPathReq
// message definition for MsgTypeGlobalPathResp
message GlobalPathResp
{
repeated Location wayPoints = 1;
repeated Location wayPoints = 1;
}
// message definition for MsgTypeTrafficLightData
@@ -329,7 +329,7 @@ message TrafficLightDetail
message TrafficLightData
{
string crossID = 1; //roadID
double latitude = 2;
double latitude = 2;
double longitude = 3;
string heading = 4; //红绿灯方向
string direction = 5; //路的航向角

30
libraries/mogo-adas-data/src/main/proto/system_status_info.proto
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@@ -3,21 +3,21 @@ syntax = "proto2";
package system_master;
enum SystemState {
SYS_STARTING = 0; //系统正在启动
SYS_RUNNING = 1; //系统运行中
SYS_EXITING = 2; //系统正在关闭 例如重启
SYS_FAULT = 3; //系统异常
PILOT_READY = 4; //自动驾驶准备就绪，轨迹下载完成，可以开始自动驾驶
AUTO_PILOT_STARTING = 5; //正在开始自动驾驶 自动驾驶命令已下发，正在启动中
AUTO_PILOT_RUNNING = 6; //自动驾驶运行中
REMOTE_PILOT_STARTING = 7; //平行驾驶启动中
REMOTE_PILOT_RUNNING = 8; //平行驾驶运行中
SYS_STARTING = 0;
SYS_RUNNING = 1;
SYS_EXITING = 2;
SYS_FAULT = 3;
PILOT_READY = 4;
AUTO_PILOT_STARTING = 5;
AUTO_PILOT_RUNNING = 6;
REMOTE_PILOT_STARTING = 7;
REMOTE_PILOT_RUNNING = 8;
}
enum HealthState {
NORMAL = 0;//正常
FAULT = 1;//异常
UNKNOW = 2;//未知
NORMAL = 0;
FAULT = 1;
UNKNOW = 2;
}
message HealthInfo{
@@ -29,19 +29,19 @@ message HealthInfo{
message TopicInfo{
optional string name = 1; //topic name
optional int32 hz = 2; //Topic发送的频率
optional int32 hz = 2;
// optional int32 max_delay = 3; //unit： msec
}
message DropTopic{
required int32 sum = 1; //dropped topic sum 有多少个Topic掉帧
required int32 sum = 1; //dropped topic sum
repeated TopicInfo topic = 2;
}
message StatusInfo {
required SystemState sys_state=1; // 当前消息状态
repeated HealthInfo health_info=2; // 健康检查状态信息
repeated HealthInfo health_info=2; // 健康检查状态信息
optional DropTopic topic_drop_info=3; // topic 掉频信息， 如有掉频添加没有不添加
optional string reserved = 4; // 预留可选字段，用于接口扩充或者，其他信息补充
}