[change] badcase 功能添加查询和接收配置接口，启动录制bag包接口加入前溯时间参数

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

@@ -3,7 +3,7 @@ package mogo.telematics.pad;
 
 enum ProtocolVersion{
     Defaultver = 0;
-    CurrentVersion = 3; //每次修改proto文件增加1
+    CurrentVersion = 4; //每次修改proto文件增加1
 }
 
 enum MessageType
@@ -20,6 +20,7 @@ enum MessageType
     MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
     MsgTypePointCloud = 0x10008; //点云透传
     MsgTypePlanningObjects = 0x10009; //planning障碍物
+    MsgTypeOBU = 0x1000a; //OBU
 
     MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
     MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -41,6 +42,8 @@ enum MessageType
     MsgTypeStatusQueryReq = 0x10111; //状态查询请求
     MsgTypeStatusQueryResp = 0x10112; //状态查询应答
     MsgTypeSetRainModeReq = 0x10113; //设置雨天模式
+    MsgTypeRecordDataConfigReq = 0x10114; //数据采集配置查询请求
+    MsgTypeRecordDataConfigResp = 0x10115; //数据采集配置查询应答
 }
 
 message Header
@@ -150,6 +153,9 @@ message PlanningObjects
     repeated PlanningObject objs = 1; 
 }
 
+// message definition for MessageType: MsgTypeOBU
+// refer to obu.proto
+
 // message definition for MsgTypeTrajectoryDownloadReq
 message Line
 {
@@ -250,6 +256,7 @@ message RecordData
     uint32 type = 3; //采集类型, 1:badcase, 2: map; 3: rests
     bool isRecord = 4; //采集指令, true: 采集, false: 停止采集
     bool sustain = 5; //是否持续采集
+    uint32 bduration = 6; //前溯时长
 }
 
 // message definition for MsgTypeRecordResult
@@ -299,7 +306,7 @@ message TrafficLightData
     int32 arrowNo = 8; //当前车道对应地面要素转向
     int32 flashYellow = 9; //黄灯总时间
     TrafficLightDetail laneDetail = 10; //灯态具体信息
-    uint64 timestamp =11;//当前卫星时间, 单位: ms
+    uint64 timestamp = 11;//当前卫星时间, 单位: ms
 }
 
 // message definition for MsgTypeWarn
@@ -345,3 +352,21 @@ message SetRainModeReq
     uint32 enable = 1; //1: enable, 0: disable
 }
 
+// message definition for MsgTypeRecordDataConfigReq
+message RecordDataConfigReq
+{
+    uint32 reqType = 1; // 0: all, 其他保留
+}
+
+// message definition for MsgTypeRecordDataConfigResp
+message RecordDataType
+{
+    uint32 id = 1; //采集类型id
+    string desc = 2; //采集类型描述
+}
+
+message RecordDataConfig
+{
+    repeated RecordDataType recordTypes = 1;
+}
+

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

@@ -14,4 +14,4 @@ message MogoPointCloud
     optional double self_yaw = 7;
     repeated uint32 del_data = 8 [packed=true];
     repeated double add_data = 9 [packed=true];
-}
+}

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

@@ -0,0 +1,17 @@
+syntax = "proto3";
+package mogo.telematics.pad;
+//第三方OBU接入
+
+import "header.proto";
+
+enum Type{
+  Default = 0;
+  DF_OBU = 1;//宜宾东风OBU msg格式:Json字符串
+}
+message Obu
+{
+  common.Header header = 1;
+  Type type = 2;//第三方类型 目前只有东风OBU
+  bytes msg = 3;//OBU 数据
+}
+