[3.4.0][mogo-adas]底盘接口新增车门状态，df350

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

@@ -100,3 +100,13 @@ enum CleanSystemControlMode {
   Clean_PureWash_Left_Work = 13;
   Clean_PureWash_Right_Work = 14;
 }
+
+enum DoorNumber {
+  NONE = 0;
+  FRONT_LEFT = 1;
+  FRONT_RIGHT = 2;
+  REAR_LEFT = 3;
+  REAR_RIGHT = 4;
+  MIDDLE = 5;
+}
+

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

@@ -74,6 +74,11 @@ message DoorState {
     optional bool is_on = 1; //是否开启
 }
 
+message DoorStateV2 {
+    optional DoorNumber number = 1; // 车门编号
+    optional uint32 status = 2; // 车门开闭状态(0-关, 1-开)
+}
+
 message LightState {
     optional bool is_on = 1; //是否开启
     optional uint32 color = 2; //颜色
@@ -116,13 +121,13 @@ message VehicleState {
     optional bool steer_inference = 23 [default = false]; //方向盘干预
     optional bool brake_inference = 24 [default = false]; //制动踏板干预
     optional bool accel_inference = 25 [default = false]; //加速踏板干预
-    optional bool gear_switch_inference = 26 [default = false]; //档位切换干预 
+    optional bool gear_switch_inference = 26 [default = false]; //档位切换干预
     optional bool location_missing = 27 [default = false]; //未收到定位
     optional bool trajectory_missing = 28 [default = false]; //未收到轨迹
     optional bool chassis_status_missing = 29 [default = false]; //未收到车辆底盘反馈信息
     optional bool brake_light_status = 30 [default = false]; //自驾模式下制动灯状态
     optional bool pilot_mode_condition_met = 31 [default = false];
-    
+
     optional float steeringSpd = 32 [default = 0]; // steering angle speed in degrees/s
 
     optional float leftFrontWheelAngle = 33 [default = 0];//左前轮角度（deg）,左负右正
@@ -136,6 +141,8 @@ message VehicleState {
     optional float bms_soc = 40 [default = 0];  // 电量百分比范围   0~100
     optional float fuel_value = 41 [default = 0]; // 油车剩余油量
 
+    repeated DoorStateV2 door_state = 42; // 车门状态
+
     optional SweeperFuTianCleanSystemState sweeper_futian_clean_system_state = 200; // 福田清扫车上装状态信息
     optional RoboTaxiState robo_taxi_state = 201; // taxi状态
     optional RoboBusState robo_bus_state = 202; // bus状态