Merge remote-tracking branch 'origin/dev_robotaxi-d_240227_6.3.0' into dev_robotaxi-d_240227_6.3.0

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReceivedAck.java

@@ -125,19 +125,7 @@ public class ReceivedAck {
         this.receivedAck = receivedAck;
     }
 
-    /**
-     * 确认是否收到回执
-     *
-     * @param msgId 下发的消息id
-     * @return 是否收到回执
-     */
-    public boolean isReceiptReceived(long msgId) {
-        Log.i("ReceivedAck", "消息=" + msgId + " 结果=" + toString());
-        if (status == Status.NORMAL) {
-            return this.msgId == msgId;
-        }
-        return false;
-    }
+
 
     @Override
     public String toString() {

libraries/mogo-adas-data/src/main/proto/traffic_light.proto

@@ -17,6 +17,7 @@ enum LightState {
   STATE_YELLOW = 2;
   STATE_GREEN = 3;
   STATE_FLASH = 4;//闪烁
+  STATE_OFF_FUSION = 5;
 }
 
 message TrafficLight {
@@ -24,6 +25,7 @@ message TrafficLight {
   optional LightType type = 2 [default = TYPE_DEFAULT];//灯所处的车道类型
   optional LightState state = 3 [default = STATE_OFF];//灯态
   optional float duration = 4; // seconds since the last state changed
+  optional LightState next_state = 5 [default = STATE_OFF_FUSION];
 }
 
 //触发方式：120m以内会有信号，但远的时候可能不准，越近越准
@@ -35,4 +37,7 @@ message TrafficLights {
   optional TrafficLight left = 3;//左转灯
   optional TrafficLight right = 4;//右转灯
   optional TrafficLight u_turn = 5;//掉头灯
+
+  optional bool shield = 6 [default = false];//wheather the traffic lights are shield
+  optional uint32 source = 7 [default = 0]; // 0: vehicle, 1:V2I, 2: V2N
 }