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[adas] 底盘PB增加字段

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xinfengkun
2023-05-20 20:05:27 +08:00
parent ca6205cf46
commit 50ee8a5ca7
1 changed files with 21 additions and 2 deletions
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23
libraries/mogo-adas-data/src/main/proto/chassis_states.proto
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@@ -4,7 +4,6 @@ package chassis;
import "chassis.proto";
import "header.proto";
enum EPBWorkStates {
EPB_STATE_NONE = 0;
EPB_STATE_LOCKING = 1;
@@ -29,6 +28,8 @@ message VehicleMotionStates {
optional float acceleration = 3 [default = 0]; // vehicle acceleration in m/s^2
optional float longitude_acceleration = 4 [default = 0]; // vehicle longitudinal acceleration in m/s^2
optional float lateral_acceleration = 5 [default = 0]; // vehicle lateral acceleration in m/s^2
optional bool speed_valid = 6 [default = false]; // validity of chassis speed infomation, inicates whether other modules can use this speed information
optional bool acceleration_valid = 7 [default = false]; // validity of chassis acceleration information, inicates whether other modules can use this acceleration information
}
message DrivingSystemStates {
@@ -43,6 +44,8 @@ message BMSSystemStates {
optional float bms_total_current = 2 [default = 0]; // total output current of power battery in A
optional float bms_soc = 3 [default = 0]; // residual SOC value of power battery
optional VehicleFaultLevels bms_system_fault_state = 4 [default = NONE_FAULT]; // fault states of the power battery system
optional uint32 bms_main_positive_relay_state = 5;
optional uint32 bms_main_negative_relay_state = 6;
}
message MCUSystemStates {
@@ -51,6 +54,7 @@ message MCUSystemStates {
optional float mcu_motor_voltage = 3 [default = 0]; // driving motor input voltage in V
optional float mcu_motor_current = 4 [default = 0]; // driving motor output current in A
optional VehicleFaultLevels mcu_system_fault_state = 5 [default = NONE_FAULT]; // fault states of the mcu system
optional uint32 mcu_motor_work_mode = 6; // driving motro work mode
}
message EngineSystemStates {
@@ -67,6 +71,7 @@ message BrakeSystemStates {
optional float average_brake_pressure = 5 [default = 0]; // Average brake pressure feedback in kPa
optional VehicleFaultLevels brake_system_fault_state = 6 [default = NONE_FAULT]; // fault states of the brake system
optional float brake_pedal_response_position = 7 [default = 0]; // Brake pedal opening for chassis response in percentage [0, 100]
optional uint32 foundation_brake_use = 8 [default = 0]; // The purpose of effective use of brake is to protect the brake valve body
}
message SteerSystemStates {
@@ -79,6 +84,7 @@ message SteerSystemStates {
optional float front_left_wheel_angle = 7 [default = 0]; // front left wheel angle
optional float front_right_wheel_angle = 8 [default = 0]; // front right wheel angle
optional VehicleFaultLevels steer_system_fault_state = 9 [default = NONE_FAULT]; // fault states of the steer system
optional bool steering_wheel_angle_valid = 10 [default = false]; // validity of chassis steering_wheel_angle information, inicates whether other modules can use this steering_wheel_angle information
}
message GearSystemStates {
@@ -86,6 +92,7 @@ message GearSystemStates {
optional GearPosition gear_position = 2 [default = GEAR_NONE]; // vehicle real gear position
optional bool gear_switch_inference_state = 3 [default = false]; // manual intervention status of gear switch
optional VehicleFaultLevels gear_system_fault_state = 4 [default = NONE_FAULT]; // fault states of the gear system
optional bool gear_position_valid = 5 [default = false]; // validity of chassis gear_position information, inicates whether other modules can use this gear_position information
}
message EPBSystemStates {
@@ -93,6 +100,7 @@ message EPBSystemStates {
optional EPBWorkStates epb_work_state = 2 [default = EPB_STATE_NONE]; // EPB work status
optional bool epb_switch_inference_state = 3 [default = false]; // manual intervention status of EPB switch
optional VehicleFaultLevels epb_system_fault_state = 4 [default = NONE_FAULT]; // fault states of the EPB system
optional bool epb_work_state_valid = 5 [default = false]; // validity of chassis epb_work_state information, inicates whether other modules can use this epb_work_state information
}
message BCMSystemStates {
@@ -170,12 +178,22 @@ message ChassisAutopilotAssistanceInformation {
optional bool vehicle_pilot_switch_state = 3 [default = false]; // 车辆自动驾驶开关状态
optional float vehicle_low_voltage_battery_voltage = 4; // 车辆低压蓄电池电压
optional float vehicle_remaining_mileage = 5; // 车辆剩余续航里程
optional float average_power_consumption = 6; // 平均电耗，KW.h/100km
optional float average_fuel_consumpiton = 7; // 平均油耗，L/100km
}
message VehicleChassisFaultInformation {
optional VehicleFaultLevels vehiclefaultlevel = 1 [default = NONE_FAULT]; // 整车故障状态
}
// 附加的车载附件状态信息
message AdditionalVehicleAccessoriesStates {
optional uint32 left_fill_light_state = 1 [default = 0]; // left fill light status 0-off 1-open
optional uint32 right_fill_light_state = 2 [default = 0]; // right fill light status 0-off 1-op1n
optional uint32 back_fill_light_state = 3 [default = 0]; // back fill light status 0-off 1-op1n
}
message ChassisStates {
optional common.Header header = 1;
optional VehicleMotionStates vehicle_motion_states = 2;
@@ -191,4 +209,5 @@ message ChassisStates {
optional ChassisAutopilotAssistanceInformation chassis_autopilot_assistance_information = 12;
optional TaskSystemStates task_system_states = 13;
optional VehicleChassisFaultInformation vehicle_chassis_fault_information = 14;
}
optional AdditionalVehicleAccessoriesStates additional_vehicle_accessories_states = 15;
}