From 76acbbeba29743d20e8a428038c2415abdf30341 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Thu, 3 Nov 2022 15:55:08 +0800 Subject: [PATCH] =?UTF-8?q?[change]=20=E4=BF=AE=E6=94=B9=E5=B9=B3=E8=A1=8C?= =?UTF-8?q?=E9=A9=BE=E9=A9=B6=E5=80=BC=E7=8A=B6=E6=80=81=EF=BC=8C=E4=BB=A5?= =?UTF-8?q?=E5=8F=8APB=E5=A4=87=E6=B3=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/IMoGoAutopilotStatusListener.kt | 2 +- .../src/main/proto/message_pad.proto | 22 +++++++++---------- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt index 47e8d6b770..73aa0a4baa 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt @@ -66,6 +66,6 @@ interface IMoGoAutopilotStatusListener { /** * 平行驾驶 */ - const val STATUS_PARALLEL_DRIVING = 3 + const val STATUS_PARALLEL_DRIVING = 7 } } \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 8d17379521..921c6301b3 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -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; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中,3:平行驾驶 + 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 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; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶，2平行驾驶 + 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 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