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Merge branch 'release_robotaxi-d-app-module_2130_221116_2.13.0.1_temp' into dev_robotaxi-d-app-module_2132_221223_2.13.2

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lixiaopeng
2023-01-06 11:34:15 +08:00
parent 417586241a 8897667df1
commit 7ba81fffae
20 changed files with 2008 additions and 15 deletions
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5
libraries/mogo-adas-data/src/main/proto/chassis.proto
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@@ -24,7 +24,8 @@ enum PilotMode {
MODE_STEER_ONLY = 2;
MODE_SPEED_ONLY = 3;
MODE_REMOTE_DRIVE = 6;
CHASSID_TELECONTROL_DRIVE = 7;
MODE_TELECONTROL_DRIVE = 7;
MODE_INVALID = 8;
}
enum LongitudeDrivingMode {
@@ -98,4 +99,4 @@ enum CleanSystemControlMode {
Clean_PureWash_Both_Side_Work = 12;
Clean_PureWash_Left_Work = 13;
Clean_PureWash_Right_Work = 14;
}
}

31
libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto
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@@ -1,5 +1,5 @@
syntax = "proto3";
package mogo.v2x.v2i;
package mogo.v2x;
import "header.proto";
import "mogo_v2x.proto";
@@ -91,10 +91,27 @@ message SpatWarningData{
repeated SpatLight lights = 3; /* 灯色信息集合 */
}
message ObuWarningData{
common.Header header = 1;
int32 MsgDataType = 2; /*1:rsiEvent; 2:RsmEvent; 3:SpatEvent*/
RsiWarningData rsiEvent = 3;
RsmWarningData RsmEvent = 4;
SpatWarningData SpatEvent = 5;
message NodeID{
int32 region = 1;/* 定义地图中划分区域的ID号 */
int32 id = 2; /* 定义地图节点ID */
}
message MapMatchData{
int32 status = 1;/* 状态信息，0：更新，1：添加，2：删除 */
int32 unitMask = 2;/* 描述所属字段有效性 */
NodeID currentNodeID = 3;/* 前方节点信息 */
NodeID upstreamNodeID = 4;/* 上游节点信息 */
int32 matchingLaneID = 5;/* 匹配车道ID，0：无效 */
int32 speedMaxLimit = 6;/* 建议最大车速，单位(0.02m/s) */
int32 speedMinLimit = 7;/* 建议最小车速，单位(0.02m/s) */
}
message ObuWarningData{
common.Header header = 1;
int32 msgDataType = 2; /*1:rsiEvent; 2:rsmEvent; 3:spatEvent; 4:mapMatchData*/
RsiWarningData rsiEvent = 3;
RsmWarningData rsmEvent = 4;
SpatWarningData spatEvent = 5;
MapMatchData mapMatchData = 6;
}

23
libraries/mogo-adas-data/src/main/proto/system_status_info.proto
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@@ -30,7 +30,6 @@ message HealthInfo{
message TopicInfo{
optional string name = 1; //topic name
optional int32 hz = 2; //Topic发送的频率
// optional int32 max_delay = 3; //unit： msec
}
message DropTopic{
@@ -38,10 +37,28 @@ message DropTopic{
repeated TopicInfo topic = 2;
}
message NodeInfo{
optional string node_name = 1; //node name
optional string launch_name = 2; //launch name
optional int32 state = 3; //0：未知状态None，1：依赖未就绪Waiting，2：启动中Starting，3：运行running，4：停止stopping，5：无法启动状态，6：人为启动状态，7：人为关闭状态
}
message NodeFaultList{
required int32 sum = 1; //下述node总数
repeated NodeInfo node = 2;
}
message StatusInfo {
required SystemState sys_state=1; // 当前消息状态
required SystemState sys_state=1; // 当前系统状态
repeated HealthInfo health_info=2; // 健康检查状态信息
optional DropTopic topic_drop_info=3; // topic 掉频信息， 如有掉频添加没有不添加
optional string reserved = 4; // 预留可选字段，用于接口扩充或者，其他信息补充
optional string reserved = 4; // 用于表示idle模式，'idle' 表示idle模式 'work' 表示正常工作
// add by liyl 20220907
optional int32 pilot_mode = 5; // 0: manaul 1: autopilot 2: RemotePilot
optional string map_version = 6; // MAP 版本信息
optional string master_version = 7; // system_master 版本信息
optional bool auto_pilot_ready = 8; // 自动驾驶状态就绪, 20221111增加
optional bool remote_pilot_ready = 9; // 平行驾驶状态就绪
optional NodeFaultList auto_pilot_unready_list = 10; //20221128 增加
optional NodeFaultList remote_pilot_unready_list = 11; //20221128 增加
}