[change] 更新PB9 感知物接口新增字段
This commit is contained in:
xinfengkun
@@ -24,6 +24,7 @@ enum PilotMode {
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MODE_STEER_ONLY = 2;
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MODE_SPEED_ONLY = 3;
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MODE_REMOTE_DRIVE = 6;
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CHASSID_TELECONTROL_DRIVE = 7;
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}
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enum LongitudeDrivingMode {
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194
libraries/mogo-adas-data/src/main/proto/chassis_states.proto
Normal file
194
libraries/mogo-adas-data/src/main/proto/chassis_states.proto
Normal file
@@ -0,0 +1,194 @@
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syntax = "proto2";
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package chassis;
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import "chassis.proto";
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import "header.proto";
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enum EPBWorkStates {
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EPB_STATE_NONE = 0;
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EPB_STATE_LOCKING = 1;
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EPB_STATE_LOCKED = 2;
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EPB_STATE_RELEASING = 3;
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EPB_STATE_RELEASED = 4;
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EPB_STATE_LOCKED_FAIL = 5;
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EPB_STATE_RELEASE_FAIL = 6;
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EPB_STATE_FAULT = 7;
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}
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enum VehicleFaultLevels {
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NONE_FAULT = 0;
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GENERAL_FAULT = 1;
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SERIOUS_FAULT = 2;
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CRITICAL_FAULT = 3;
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}
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message VehicleMotionStates {
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optional float speed = 1 [default = 0]; // vehicle speed in m/s
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optional float angular_speed = 2 [default = 0]; // vehicle angular speeed in rad/s
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optional float acceleration = 3 [default = 0]; // vehicle acceleration in m/s^2
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optional float longitude_acceleration = 4 [default = 0]; // vehicle longitudinal acceleration in m/s^2
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optional float lateral_acceleration = 5 [default = 0]; // vehicle lateral acceleration in m/s^2
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}
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message DrivingSystemStates {
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optional uint32 driving_enable_state = 1 [default = 0]; // vehicle driving system wirecontrol enable state
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optional float throttle_response_position = 2 [default = 0]; // vehicle throttle response with control command in percentage [0, 100]
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optional bool acceleration_pedal_inference_state = 3 [default = false]; // manual intervention status of acceleration pedal
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optional float acceleration_pedal_inference_position = 4 [default = 0];// manual intervention opening of acceleration pedal in percentage [0, 100]
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}
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message BMSSystemStates {
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optional float bms_total_voltage = 1 [default = 0]; // total output voltage of power battery in V
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optional float bms_total_current = 2 [default = 0]; // total output current of power battery in A
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optional float bms_soc = 3 [default = 0]; // residual SOC value of power battery
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optional VehicleFaultLevels bms_system_fault_state = 4 [default = NONE_FAULT]; // fault states of the power battery system
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}
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message MCUSystemStates {
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optional float mcu_motor_speed = 1 [default = 0]; // driving motor speed in rpm
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optional float mcu_motor_torque = 2 [default = 0]; // driving motor output torque in nm
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optional float mcu_motor_voltage = 3 [default = 0]; // driving motor input voltage in V
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optional float mcu_motor_current = 4 [default = 0]; // driving motor output current in A
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optional VehicleFaultLevels mcu_system_fault_state = 5 [default = NONE_FAULT]; // fault states of the mcu system
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}
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message EngineSystemStates {
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optional float engine_speed = 1 [default = 0]; // engine speed in rpm
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optional float remaining_oil = 2 [default = 0]; // current actual remaining oil
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optional VehicleFaultLevels engine_system_fault_state = 3 [default = NONE_FAULT]; // fault states of the engine system
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}
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message BrakeSystemStates {
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optional uint32 brake_enable_sts = 1 [default = 0]; // vehicle brake system wirecontrol enable state
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optional bool brake_pedal_inference_state = 2 [default = false]; // manual intervention status of brake pedal
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optional bool brake_pedal_state = 3 [default = false]; // the status of the brake pedal. if it is true, it means the brake pedal is depressed
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optional float brake_pedal_inference_position = 4 [default = 0]; // manual intervention opening of brake pedal in percentage [0, 100]
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optional float average_brake_pressure = 5 [default = 0]; // Average brake pressure feedback in kPa
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optional VehicleFaultLevels brake_system_fault_state = 6 [default = NONE_FAULT]; // fault states of the brake system
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optional float brake_pedal_response_position = 7 [default = 0]; // Brake pedal opening for chassis response in percentage [0, 100]
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}
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message SteerSystemStates {
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optional uint32 steer_enable_state = 1 [default = 0]; // vehicle steer system wirecontrol enable state
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optional uint32 eps_work_mode_state = 2 [default = 0]; // eps system work mode states
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optional float steering_wheel_angle = 3 [default = 0]; // steering angle in degrees
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optional float steering_wheel_speed = 4 [default = 0]; // steering speed in degree/s
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optional bool steering_wheel_inference_state = 5 [default = false]; // manual intervention status of steering wheel
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optional float steering_wheel_inference_torque = 6 [default = 0];// manual intervention torque of steering wheel in nm
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optional float front_left_wheel_angle = 7 [default = 0]; // front left wheel angle
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optional float front_right_wheel_angle = 8 [default = 0]; // front right wheel angle
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optional VehicleFaultLevels steer_system_fault_state = 9 [default = NONE_FAULT]; // fault states of the steer system
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}
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message GearSystemStates {
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optional uint32 gear_enable_state = 1 [default = 0]; // vehicle gear system wirecontrol enable state
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optional GearPosition gear_position = 2 [default = GEAR_NONE]; // vehicle real gear position
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optional bool gear_switch_inference_state = 3 [default = false]; // manual intervention status of gear switch
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optional VehicleFaultLevels gear_system_fault_state = 4 [default = NONE_FAULT]; // fault states of the gear system
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}
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message EPBSystemStates {
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optional uint32 epb_enable_state = 1 [default = 0]; // vehicle EPB system wirecontrol enable state
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optional EPBWorkStates epb_work_state = 2 [default = EPB_STATE_NONE]; // EPB work status
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optional bool epb_switch_inference_state = 3 [default = false]; // manual intervention status of EPB switch
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optional VehicleFaultLevels epb_system_fault_state = 4 [default = NONE_FAULT]; // fault states of the EPB system
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}
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message BCMSystemStates {
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optional LightSwitch turn_light_state = 1 [default = LIGHT_NONE]; // real turn light status
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optional uint32 horn_state = 2 [default = 0]; // real horn status 0-off 1-open 2-reserved 3-reserved
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optional uint32 highbeam_state = 3 [default = 0]; // real highbeam status 0-off 1-open 2-reserved 3-reserved
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optional uint32 lowbeam_state = 4 [default = 0]; // real lowbeam status 0-off 1-open 2-reserved 3-reserved
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optional uint32 front_foglight_state = 5 [default = 0]; // real front foglight status 0-off 1-open 2-reserved 3-reserved
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optional uint32 back_foglight_state = 6 [default = 0]; // real back foglight status 0-off 1-open 2-reserved 3-reserved
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optional uint32 clearance_lamps_state = 7 [default = 0]; // real clearance lamps status 0-off 1-open 2-reserved 3-reserved
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optional uint32 alarm_light_state = 8 [default = 0]; // real alarm light status 0-off 1-open 2-reserved 3-reserved
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optional uint32 position_light_state = 9 [default = 0]; // position light status 0-off 1-open 2-reserved 3-reserved
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optional uint32 driver_door_state = 10 [default = 0]; // real driver door status 0-off 1-open 2-reserved 3-reserved
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optional uint32 brake_light_state = 11 [default = 0]; // real brake light status 0-off 1-open 2-reserved 3-reserved
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optional uint32 daytime_runing_light_state = 13 [default = 0]; // real daytime running light status 0-off 1-open 2-reserved 3-reserved
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optional uint32 driver_safty_belt_state = 14 [default = 0]; // real driver safty belf status 0-off 1-open 2-reserved 3-reserved
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optional uint32 front_hood_open_state = 15 [default = 0]; // real front hood opening status 0-off 1-open 2-reserved 3-reserved
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optional uint32 wipers_work_state = 16 [default = 0]; // real wipers work status 0-off 1-open 2-reserved 3-reserved
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optional uint32 wipers_work_intermittent_gear = 17 [default = 0]; // real wipers work gear
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}
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message SweeperFuTianTaskSystemStates {
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optional bool secu_rem_ctrl_sts = 1 [default = false]; // 远程控制使能信号
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optional bool secu_mot_work_sts = 2 [default = false]; // 电机启停控制状态信号
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optional bool secu_dup_tail_door_open_sts = 3 [default = false]; // 垃圾箱尾门开状态信号
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optional bool secu_dup_tail_door_close_sts = 4 [default = false]; // 垃圾箱尾门关状态信号
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optional bool secu_auto_dup_tail_tip_sts = 5 [default = false]; // 垃圾箱倾翻状态信号
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optional bool secu_dup_tail_ret_sts = 6 [default = false]; // 垃圾箱回位状态信号
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optional bool secu_work_stand_sts = 7 [default = false]; // 标准作业状态信号
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optional bool secu_work_strong_sts = 8 [default = false]; // 强力作业状态信号
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optional bool secu_suctionnozzlebaffle_sts = 9 [default = false]; // 吸嘴挡板开状态信号
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optional bool secu_dusk_close_sts = 10 [default = false]; // 降尘关闭状态信号
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optional bool secu_work_left_sts = 11 [default = false]; // 左侧作业状态信号
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optional bool secu_work_on_bothsides_sts = 12 [default = false]; // 两侧作业状态信号
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optional bool secu_work_right_sts = 13 [default = false]; // 右侧作业状态信号
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optional bool secu_work_ton_sts = 14 [default = false]; // 纯吸作业状态信号
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optional bool secu_work_spray_gun_sts = 15 [default = false]; // 喷雾喷枪作业状态信号
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optional bool secu_work_enc_des_sts = 16 [default = false]; // 箱体清淤作业状态信号
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optional bool secu_mod_wash_sweep_sts = 17 [default = false]; // 洗扫模式状态信号
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optional bool secu_mod_wash_sts = 18 [default = false]; // 纯洗模式状态信号
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optional bool secu_sweepdisk_red_sts = 19 [default = false]; // 扫盘减速开关状态信号
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optional bool secu_sweepdisk_acc_sts = 20 [default = false]; // 扫盘加速开关状态信号
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optional bool secu_arrowlight_sts = 21 [default = false]; // 箭头灯开关状态信号
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optional bool secu_floodlight_sts = 22 [default = false]; // 照明灯开关状态信号
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optional bool secu_work_cleaning_sts = 23 [default = false]; // 保洁作业状态信号
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optional bool secu_clean_music_sts = 24 [default = false]; // 音乐开关状态信号
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optional bool secu_motor_oil_com_fail = 25 [default = false]; // 油泵电机通讯失败报警
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optional bool secu_motor_water_com_fail = 26 [default = false]; // 水泵电机通讯失败报警
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optional bool secu_motor_air_com_fail = 27 [default = false]; // 风机电机通讯失败报警
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optional bool secu_fan_fault = 28 [default = false]; // 散热风扇故障报警
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optional bool secu_chassis_com_fail = 29 [default = false]; // 底盘通讯失败报警
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optional bool secu_panel_com_fail = 30 [default = false]; // 操作面板通讯失败报警
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optional bool secu_oillevel_check = 31 [default = false]; // 液压油位低请停机检查报警信号
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optional bool secu_oilstmjam_check = 32 [default = false]; // 液压油滤堵塞请停机检查报警信号
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optional bool secu_water_valve_close = 33 [default = false]; // 出水阀门关闭不能清洗作业报警信号
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optional bool secu_clean_water_tank_low = 34 [default = false]; // 清水箱水位低不能清洗作业报警信号
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optional bool secu_sewage_water_tank_full = 35 [default = false]; // 污水箱满请停止作业报警信号
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optional bool secu_coolwatertemp_high = 36 [default = false]; // 水温过高请停机检查报警信号
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optional bool secu_coolwater_less = 37 [default = false]; // 冷却液位低报警信号
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optional bool secu_tail_gate_open = 38 [default = false]; // 尾门打开接近开关
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optional bool secu_manual_intervention_sts = 39 [default = false]; // 提示是否有人为介入
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optional bool secu_ready_finish_sts = 40 [default = false]; // 上装ready完成
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optional float secu_sweepdisk_speed = 41 [default = 0]; // 扫盘转速
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}
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message TaskSystemStates {
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optional SweeperFuTianTaskSystemStates sweeper_futian_task_system_states = 1;
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}
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message ChassisAutopilotAssistanceInformation {
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optional PilotMode chassis_pilot_mode_state = 1 [default = MODE_MANUAL];
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optional bool Emergency_Stop_Switch_state = 2 [default = false]; // 急停开关状态
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optional bool vehicle_pilot_switch_state = 3 [default = false]; // 车辆自动驾驶开关状态
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optional float vehicle_low_voltage_battery_voltage = 4; // 车辆低压蓄电池电压
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optional float vehicle_remaining_mileage = 5; // 车辆剩余续航里程
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}
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message VehicleChassisFaultInformation {
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optional VehicleFaultLevels vehiclefaultlevel = 1 [default = NONE_FAULT]; // 整车故障状态
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}
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message ChassisStates {
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optional common.Header header = 1;
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optional VehicleMotionStates vehicle_motion_states = 2;
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optional DrivingSystemStates driving_system_states = 3;
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optional BrakeSystemStates brake_system_states = 4;
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optional SteerSystemStates steer_system_states = 5;
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optional GearSystemStates gear_system_states = 6;
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optional EPBSystemStates epb_system_states = 7;
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optional BCMSystemStates bcm_system_states = 8;
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optional BMSSystemStates bms_system_states = 9;
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optional MCUSystemStates mcu_system_states = 10;
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optional EngineSystemStates engine_system_states = 11;
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optional ChassisAutopilotAssistanceInformation chassis_autopilot_assistance_information = 12;
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optional TaskSystemStates task_system_states = 13;
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optional VehicleChassisFaultInformation vehicle_chassis_fault_information = 14;
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}
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@@ -0,0 +1,50 @@
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syntax = "proto2";
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package function_state_management;
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import "header.proto";
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enum PilotDrivingFunctionState {
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PILOT_DRIVING_OFF = 0;
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PILOT_DRIVING_STANDBY = 1;
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PILOT_DRIVING_ACTIVE = 2;
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PILOT_DRIVING_LON_ACTIVE = 3;
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PILOT_DRIVING_LAT_ACTIVE = 4;
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PILOT_DRIVING_TAKEOVER = 5;
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PILOT_DRIVING_OVERRIDE = 6;
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PILOT_DRIVING_WARNING = 7;
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PILOT_DRIVING_DEGRADED_RUNNING = 8;
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PILOT_DRIVING_SAFTY_STOP = 9;
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}
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enum ParallelDrivingFunctionState {
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PARALLEL_DRIVING_OFF = 0;
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PARALLEL_DRIVING_STANDBY = 1;
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PARALLEL_DRIVING_ACTIVE = 2;
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PARALLEL_DRIVING_LON_ACTIVE = 3;
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PARALLEL_DRIVING_LAT_ACTIVE = 4;
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PARALLEL_DRIVING_TAKEOVER = 5;
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PARALLEL_DRIVING_OVERRIDE = 6;
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PARALLEL_DRIVING_WARNING = 7;
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PARALLEL_DRIVING_DEGRADED_RUNNING = 8;
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PARALLEL_DRIVING_SAFTY_STOP = 9;
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}
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enum TelecontrolDrivingFunctionState {
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TELECONTROL_DRIVING_OFF = 0;
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TELECONTROL_DRIVING_STANDBY = 1;
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TELECONTROL_DRIVING_ACTIVE = 2;
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TELECONTROL_DRIVING_LON_ACTIVE = 3;
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TELECONTROL_DRIVING_LAT_ACTIVE = 4;
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TELECONTROL_DRIVING_TAKEOVER = 5;
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TELECONTROL_DRIVING_OVERRIDE = 6;
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TELECONTROL_DRIVING_WARNING = 7;
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TELECONTROL_DRIVING_DEGRADED_RUNNING = 8;
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TELECONTROL_DRIVING_SAFTY_STOP = 9;
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}
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message FSMFunctionStates {
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optional common.Header header = 1;
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optional PilotDrivingFunctionState pilot_driving_function_state = 2;
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optional ParallelDrivingFunctionState parallel_driving_function_state = 3;
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optional TelecontrolDrivingFunctionState telecontrol_driving_function_state = 4;
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}
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@@ -1,10 +1,12 @@
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syntax = "proto3";
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package mogo.telematics.pad;
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import "geometry.proto";
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enum ProtocolVersion
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{
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Defaultver = 0;
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CurrentVersion = 8; //每次修改proto文件增加1
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CurrentVersion = 9; //每次修改proto文件增加1
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}
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enum MessageType
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@@ -12,6 +14,8 @@ enum MessageType
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MsgTypeDefault = 0;
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MsgTypePlanningDecisionState = 0x00001; //planning决策状态, 透传
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MsgTypeSweeperTaskIndexData = 0x00002; //清扫车指标数据
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MsgTypeObuWarningData = 0x00003; //obu预警事件
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MsgTypeTrajectory = 0x10000; //局部轨迹,车前引导线
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MsgTypeTrackedObjects = 0x10001; //障碍物信息
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@@ -24,6 +28,8 @@ enum MessageType
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MsgTypePointCloud = 0x10008; //点云透传
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MsgTypePlanningObjects = 0x10009; //planning障碍物
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MsgTypeOBU = 0x1000a; //OBU
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MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
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MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
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MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
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MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
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@@ -85,13 +91,14 @@ message Trajectory
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// message definition for MsgTypeTrackedObjects
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message SubSource
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{
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uint32 source = 1; //[default = 0] v2v_bsm = 1 v2i_rsm = 2 v2v_ssm = 3 v2n_rsm = 4 v2n_rsi = 5
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string id = 2; //HEX_string
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uint32 source = 1; // TrackedSource=1:1-lidar 2-camera 3-radar 4-vidar 5-falcon
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// TrackedSource=2:1-v2v_bsm 2-v2i_rsm 3-v2v_ssm 4-v2n_rsm 5-v2n_rsi 6-v2i_ssm
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string id = 2; //HEX_string -bsm_id
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}
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message TrackedSource
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{
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uint32 source = 1; //lidar:1 camera:2 radar:3 v2x:4 vidar:5 falcon:6
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uint32 source = 1; // 1-car 2-v2x
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repeated SubSource sub_source = 2;
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}
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@@ -115,6 +122,7 @@ message TrackedObject
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double driverTime = 13; //驱动感知时间, abandoned
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repeated TrackedSource tracked_source = 14;
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repeated Location polygon = 15;
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geometry.Point center = 16;
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}
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message TrackedObjects
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@@ -147,7 +155,7 @@ message AutopilotState
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uint32 camera = 2; //camera节点状态 1:开启，0:关闭
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uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
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uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
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uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
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uint32 autopilotMode = 5; //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)
|
||||
}
|
||||
@@ -495,5 +503,16 @@ message TripInfoEvent
|
||||
bool isLastStop = 5; //下一站到达站是否最终站
|
||||
}
|
||||
|
||||
//message definition for MsgTypeChassisStates
|
||||
//refer to chassis_states.proto for details
|
||||
|
||||
//message definition for MsgTypeFunctionStates
|
||||
//refer to function_states.proto for details
|
||||
|
||||
//message definition for MsgTypeSweeperTaskIndexData
|
||||
//refer to robo_sweeper_task_index.proto for details
|
||||
|
||||
//message definition for MsgTypeObuWarningData
|
||||
//refer to obu_warning_event.proto for details
|
||||
|
||||
|
||||
|
||||
88
libraries/mogo-adas-data/src/main/proto/mogo_v2x.proto
Normal file
88
libraries/mogo-adas-data/src/main/proto/mogo_v2x.proto
Normal file
@@ -0,0 +1,88 @@
|
||||
syntax = "proto2";
|
||||
|
||||
package mogo.v2x;
|
||||
|
||||
message VerticalOffset_PB{
|
||||
oneof VerticalOffset{
|
||||
int32 offset1 = 1;
|
||||
int32 offset2 = 2;
|
||||
int32 offset3 = 3;
|
||||
int32 offset4 = 4;
|
||||
int32 offset5 = 5;
|
||||
int32 offset6 = 6;
|
||||
int32 elevation = 7;
|
||||
}
|
||||
}
|
||||
|
||||
message VehicleSize_PB {
|
||||
required int32 width = 1;
|
||||
required int32 length = 2;
|
||||
optional int32 height = 3;
|
||||
}
|
||||
|
||||
message AccelerationSet4Way_PB {
|
||||
required int32 lon = 1;
|
||||
required int32 lat = 2;
|
||||
required int32 vert = 3;
|
||||
required int32 yaw = 4;
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////
|
||||
//经纬度偏差，来描述一个坐标点的相对位置。约定偏差值等于真实值减去参考值。
|
||||
//提供了 7 种尺度的描述方式
|
||||
message PositionOffsetLL_PB{
|
||||
oneof PositionOffsetLL{
|
||||
Position_LL_24B position_LL1 = 1;
|
||||
Position_LL_28B position_LL2 = 2;
|
||||
Position_LL_32B position_LL3 = 3;
|
||||
Position_LL_36B position_LL4 = 4;
|
||||
Position_LL_44B position_LL5 = 5;
|
||||
Position_LL_48B position_LL6 = 6;
|
||||
Position_LLmD_64b position_LatLon = 7;
|
||||
}
|
||||
}
|
||||
message Position_LL_24B{
|
||||
// (-2048..2047)
|
||||
required int64 lon = 1;
|
||||
required int64 lat = 2;
|
||||
}
|
||||
message Position_LL_28B{
|
||||
// (-8192..8191)
|
||||
required int64 lon = 1;
|
||||
required int64 lat = 2;
|
||||
}
|
||||
message Position_LL_32B{
|
||||
// (-32768..32767)
|
||||
required int64 lon = 1;
|
||||
required int64 lat = 2;
|
||||
}
|
||||
message Position_LL_36B{
|
||||
// (-131072..131071)
|
||||
required int64 lon = 1;
|
||||
required int64 lat = 2;
|
||||
}
|
||||
message Position_LL_44B{
|
||||
// (-2097152..2097151)
|
||||
required int64 lon = 1;
|
||||
required int64 lat = 2;
|
||||
}
|
||||
message Position_LL_48B{
|
||||
// (-8388608..8388607)
|
||||
required int64 lon = 1;
|
||||
required int64 lat = 2;
|
||||
}
|
||||
message Position_LLmD_64b{
|
||||
// 定义经度数值。东经为正，西经为负。
|
||||
//分辨率为1e-7°。
|
||||
required int64 lon = 1;
|
||||
required int64 lat = 2;
|
||||
}
|
||||
//////////////////////////////////////////////////////////////////
|
||||
|
||||
message PositionOffsetLLV_PB{
|
||||
required PositionOffsetLL_PB offsetLL = 1;
|
||||
|
||||
optional VerticalOffset_PB offsetV = 2;
|
||||
}
|
||||
|
||||
|
||||
100
libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto
Normal file
100
libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto
Normal file
@@ -0,0 +1,100 @@
|
||||
syntax = "proto3";
|
||||
package mogo.v2x.v2i;
|
||||
|
||||
import "header.proto";
|
||||
import "mogo_v2x.proto";
|
||||
|
||||
message RsiWarning {
|
||||
int32 unitMask = 1; /* 描述所属字段有效性 */
|
||||
int32 sceneType = 2; /* 预警类型，0：无效，1：限速信息，2：道路危险，3：车内标牌，4：前方拥堵 */
|
||||
PositionOffsetLLV_PB position = 3; /* 交通标志/事件位置信息 */
|
||||
int32 signSerialNum = 4; /* 交通标志类型序号，根据预警类型匹配，0：无效，参照国标《GB 5768.2-2009中“交通标志中文名称索引》表序号 */
|
||||
int32 eventSerialNum = 5; /* 交通事件类型序号，根据预警类型匹配，0：无效，参考国标《GB/T 29100-2012》中定义的事件分类代码 */
|
||||
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) */
|
||||
int32 eventRadius = 8; /* 交通事件触发半径，根据预警类型匹配，0：无效，单位(0.1m) */
|
||||
int32 warningLevel = 9; /* 预警等级，0：无效，1：DETECTED，2：INFORM，3：WARNING */
|
||||
int32 targetPosition = 10; /* 目标方位，参考mg_rti_target_position_t */
|
||||
int32 distance = 11; /* 预警触发时与自车之间的距离，单位(0.01m) */
|
||||
}
|
||||
|
||||
//预警事件 RSI Warning event
|
||||
message RsiWarningData {
|
||||
int32 status = 1; /* 状态信息，0：更新，1：添加，2：删除 */
|
||||
//int32 warning_num = 2; /* 预警信息数量 */
|
||||
repeated RsiWarning warningMsg = 2; /* 预警信息集合 */
|
||||
}
|
||||
|
||||
message participant{
|
||||
int32 ptcType = 1; /* 交通参与者类型，0：未知，1：机动车，2：非机动车，3：行人，4：OBU自身 */
|
||||
int32 ptcID = 2; /* 临时ID，取值范围(1..255) */
|
||||
int32 source = 3; /* 监测信息来源，0：未知，1：RSU自身，2：V2X广播，3：视频传感器，4：微波雷达，5：地磁线圈传感器，6：激光雷达传感器，7：两类或以上感知数据融合 */
|
||||
int64 secMark = 4; /* UTC时间，单位(ms) */
|
||||
int64 latitude = 5; /* 维度，单位(1e-7°) */
|
||||
int64 longitude = 6; /* 经度，单位(1e-7°) */
|
||||
int64 elevation = 7; /* 海拔，单位(0.1m) */
|
||||
int64 speed = 8; /* 速度，单位(0.02m/s) */
|
||||
int32 heading = 9; /* 航向角，单位(0.0125°) */
|
||||
AccelerationSet4Way_PB accFourAxes = 10; /* 四轴加速度 */
|
||||
VehicleSize_PB ptcSize = 11; /* 交通参与者尺寸信息 */
|
||||
int32 vehicleClass = 12; /* 车辆类型，参考《OBU软件SDK使用文档》附录A中的表1 */
|
||||
int32 targetPosition = 13; /* 目标方位，参考mg_veh_target_position_t */
|
||||
}
|
||||
|
||||
message ParticipantWarningData{
|
||||
int32 unitMask = 1; /* 描述所属字段有效性 */
|
||||
int32 status = 2; /* 状态信息，0：更新，1：添加，2：删除 */
|
||||
int32 warningType = 3; /* 预警类型，0：前向碰撞预警，1：交叉路口碰撞预警，2：左转辅助预警，3：盲区预警，4：变道预警，
|
||||
5：逆向超车预警，6：紧急制动预警，7：异常车辆提醒，8：失控车辆预警，9：紧急车辆预警，10：弱势交通参与者碰撞预警 */
|
||||
int32 warningLevel = 4; /* 预警等级，0：无效，1：DETECTED，2：INFORM，3：WARNING */
|
||||
int32 warningPriority = 5; /* 预警优先级，默认为0，预留 */
|
||||
}
|
||||
|
||||
message DateTime{
|
||||
int32 year = 1; /* 年份 */
|
||||
int32 month = 2; /* 月份 */
|
||||
int32 day = 3; /* 日期 */
|
||||
int32 hour = 4; /* 小时 */
|
||||
int32 minute = 5; /* 分钟 */
|
||||
int32 millisecond = 6; /* 毫秒 */
|
||||
int32 offset = 7; /* 定义与UTC时间的分钟差 */
|
||||
}
|
||||
|
||||
message ParticipantWarning{
|
||||
int32 unitMask = 1; /* 描述所属字段有效性 */
|
||||
repeated ParticipantWarningData warningData = 2;
|
||||
DateTime warningTime = 3; /* 预警触发时间 */
|
||||
int32 distance = 4; /* 预警触发时与自车之间的距离，单位(0.01m) */
|
||||
}
|
||||
|
||||
|
||||
//RSM Warning Msg
|
||||
message RsmWarningData{
|
||||
int32 status = 1; /* 状态信息，0：更新，1：添加，2：删除 */
|
||||
participant participantOfOne = 2; /* 弱势交通参与者信息 */
|
||||
ParticipantWarning warningMsg = 3; /* 弱势交通参与者预警信息 */
|
||||
}
|
||||
|
||||
message SpatLight{
|
||||
int32 phaseID = 1; /* 信号灯相位ID */
|
||||
int32 maneuvers = 2; /* 允许转向关系，bit0：直行，bit1：左转，bit2：右转，bit3：掉头 */
|
||||
int32 light = 3; /* 灯色，0：不可用，1：黑色，2：红闪，3：红色，4：绿闪，5：permissive_green，6：protected_green，7：黄色，8：黄闪 */
|
||||
int32 countDown = 4; /* 灯色倒计时，单位(0.1s) */
|
||||
int32 suggestMaxSpeed = 5; /* 建议最大车速，单位(0.02m/s) */
|
||||
int32 suggestMinSpeed = 6; /* 建议最小车速，单位(0.02m/s) */
|
||||
}
|
||||
|
||||
//SPAT Msg
|
||||
message SpatWarningData{
|
||||
int32 status = 1; /* 状态信息，0：更新，1：添加，2：删除 */
|
||||
int32 warningType = 2; /* 预警类型信息 */
|
||||
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;
|
||||
}
|
||||
@@ -0,0 +1,20 @@
|
||||
syntax = "proto3";
|
||||
package planning;
|
||||
|
||||
import "header.proto";
|
||||
|
||||
message RoboSweeperTaskIndex {
|
||||
common.Header header = 1;
|
||||
|
||||
uint32 edge_clean_state = 2; // 贴边工作状态 0--非贴边作业 1--靠右贴边作业, 2–靠左贴边作业
|
||||
uint32 edge_clean_avoid = 3; // 清扫绕障状态 0–非绕障状态 , 1–绕障状态
|
||||
double loc_utm_x = 4; // 自车RTK定位utm坐标下 x值
|
||||
double loc_utm_y = 5; // 自车RTK定位utm坐标下 y值
|
||||
double loc_lon = 6; // 自车RTK定位经度
|
||||
double loc_lat= 7; // 自车RTK定位纬度
|
||||
double ref_edge_point_x = 8; // 投影边沿点utm坐标下 x值
|
||||
double ref_edge_point_y = 9; // 投影边沿点utm坐标下 y值
|
||||
double ref_edge_point_lon = 10; // 投影边沿点经度
|
||||
double ref_edge_point_lat = 11; // 投影边沿点纬度
|
||||
double dist_to_ref_edge_point = 12; // 自车到投影边沿点的距离 正值为在投影边沿点的右边 ，负值为在投影边沿点的右边
|
||||
}
|
||||
@@ -20,7 +20,8 @@ message RoboSweeperFuTianTaskCmd {
|
||||
}
|
||||
|
||||
message RoboVanSkywellTaskCmd {
|
||||
|
||||
optional uint32 door_cmd = 1 [default = 0]; //1: 开门 2:关门
|
||||
optional uint32 horn_cmd = 2 [default = 0]; //1:开始鸣笛 2:停止鸣笛
|
||||
}
|
||||
|
||||
message SpecialVehicleTaskCmd {
|
||||
|
||||
@@ -41,7 +41,7 @@ message DropTopic{
|
||||
|
||||
message StatusInfo {
|
||||
required SystemState sys_state=1; // 当前消息状态
|
||||
repeated HealthInfo health_info=2; // 健康检查状态信息
|
||||
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
|
||||
}
|
||||
|
||||
@@ -95,7 +95,9 @@ message VehicleState {
|
||||
optional bool Emergency_Stop_Switch = 37 [default = false]; // 急停开关状态
|
||||
optional chassis.VehicleFaultLevel vehiclefaultlevel = 38 [default = None_Fault]; // 整车故障状态
|
||||
|
||||
reserved 39 to 199;
|
||||
optional float bms_soc = 40 [default = 0]; // 电量百分比范围 0~100
|
||||
|
||||
reserved 41 to 199;
|
||||
|
||||
optional SweeperFuTianCleanSystemState sweeper_futian_clean_system_state = 200; // 福田清扫车上装状态信息
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user