From a117727ef784473b1f4290bdb47cd79d67a29644 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 3 Jan 2025 15:18:11 +0800 Subject: [PATCH] =?UTF-8?q?[690][adas]=E6=9B=B4=E6=96=B0PlanningActionMsg?= =?UTF-8?q?=20PB=E6=96=B0=E5=A2=9E=E8=BD=A6=E9=BE=99=E4=BF=A1=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mogo-adas-data/src/main/proto/message_pad.proto | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) 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 e9510de2c6..d967741e9e 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -94,7 +94,7 @@ enum MessageType MsgTypeV2nNioCrossoverEvent = 0x10129; //行人横穿（路侧）事件推送, 透传 MsgTypeV2nNioOtherRetrogradeEvent = 0x1012a; //他车逆行（路侧）事件推送, 透传 MsgTypeV2nNioCongestionEvent = 0x1012b; //拥堵事件推送, 透传 - MsgTypeLaneMarksTran = 0x1012c;//车道线上传 + MsgTypeLaneMarksTran = 0x1012c;//车道边界点云上传 MsgTypeCollisionReport = 0x1012d;//碰撞上报 MsgTypePowerUnit = 0x1012e;//电源模块通信 MsgTypeSSMFuncMsg = 0x1012f;//SSM功能(上下行) @@ -702,7 +702,7 @@ message OperatorCmdReq double value = 2; //OPERATOR_CMD_CHANGE_LANE: 1: left 2: right //OPERATOR_CMD_SET_ACCELERATED_SPEED: accelerated speed //OPERATOR_CMD_SET_HORN: 1: honk 2: stop honking - //OPERATOR_CMD_SEND_LANE_MARKS 0: 开始发送车道线 1:结束发送车道线 + //OPERATOR_CMD_SEND_LANE_MARKS 0: 开始发送车道边界点云 1:结束发送车道边界点云 } //message definition for MsgTypePlanningDecisionState @@ -748,6 +748,11 @@ enum DrivingState OUT_OF_ODD = 32; //超出设计运行范围（北京牌照考试）: driving_action:1 表示红灯ODD（快速路信号灯）和绕障ODD（静止车占用部分车道，对向车辆借道行驶） YIELD_TO_VEHICLE_COMING_FROM_BEHIND = 33; //正在给后方驶来的机动车让行: driving_action:1 表示触发让行后方机动车 + + LANE_FOLLOW_VEHICLE_STREAM = 34; //V2N 规划收到车龙且决策跟车龙； + LANE_CHANGE_LEFT_VEHICLE_STREAM = 35; //V2N 规划收到车龙且决策向左绕行车龙； + LANE_CHANGE_RIGHT_VEHICLE_STREAM = 36; //V2N 规划收到车龙且决策向右绕行车龙； + USING_RSI_LINK = 37; //V2N 规划正在使用云端规划通过路口 } enum DrivingAction @@ -800,6 +805,7 @@ message PlanningActionMsg double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值) ParkScenarioPlanningAction park_scenario_action = 3; + repeated DrivingActionMsg v2n_action_msg = 4;//bus taxi MAP510上线 } //message definition for MsgTypeSpecialVehicleTaskCmd