[8.1.0][adas] 新增VLLM 接口，新增VLLM图像接口，VLLM数据与VLLM图像创建同一个新线程

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java

@@ -34,6 +34,8 @@ public enum MessageType {
     TYPE_RECEIVE_LOC_STATE(MessagePad.MessageType.MsgTypeLocState, "定位状态"),
     TYPE_RECEIVE_CLOUD_REGULATORY_WARNING(MessagePad.MessageType.MsgTypeCloudRegulatoryWarning, "云控监管预警"),
     TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY2025(MessagePad.MessageType.MsgTypePredictionObjects2025, "障碍物轨迹预测"),
+    TYPE_RECEIVE_VLLM(MessagePad.MessageType.MsgTypevllm, "视觉语言模型"),
+    TYPE_RECEIVE_VLLM_IMAGE(MessagePad.MessageType.MsgTypeVllmImage60, "视觉语言模型图像"),
 
     TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
     TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

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

@@ -48,6 +48,8 @@ enum MessageType
     MsgTypeLocState = 0x10012; //定位呈现状态透传 用于pad图标显示 1hz 所有车型MAP440开始支持
     MsgTypeCloudRegulatoryWarning = 0x10013; //云控监管预警信息上报
     MsgTypePredictionObjects2025 = 0x10015; //自车他车轨迹预测2025 定频10hz
+    MsgTypevllm = 0x10016; //vllm 定频 5秒一条
+    MsgTypeVllmImage60 = 0x10017; //vllm图像 定频 5秒一条
 
     //### 以下消息全部不定频 ###
     MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求

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

@@ -0,0 +1,67 @@
+syntax = "proto2";
+
+package vllm;
+
+// common
+import "header.proto";
+
+
+
+message PathPoint {
+  optional double x = 1;
+  optional double y = 2;
+  optional double z = 3;
+  optional double yaw = 4;
+}
+
+message Trajectory {
+  optional double    confidence = 1;
+  repeated PathPoint path_point = 2;
+}
+
+// vllm high command
+message LonMetaAction {
+  enum Type {
+    COMMON = 0;
+    DECELERATE = 1;
+  }
+  optional Type type = 1 [default = COMMON];
+}
+
+message LatMetaAction {
+  enum Type{
+    KEEPLANE = 0;
+    LEFTTURN = 1;
+    RIGHTTURN = 2;
+  }
+  optional Type type = 1 [default = KEEPLANE];
+}
+
+message SceneLocation {
+  enum Type {
+    NONE = 0;
+    FRONTLEFT = 1;
+    AHEAD = 2;
+    FRONTRIGHT = 3;
+  }
+  optional Type type = 1 [default = NONE];
+}
+
+
+message WorkZone {
+  optional int32 isWorkZone = 1;
+  optional SceneLocation sceneLocation = 2;
+  optional LatMetaAction latMetaAction = 3;
+  optional LonMetaAction lonMetaAction = 4;
+  optional string sceneExplantion = 5;
+  optional int32 isWater = 6;
+  optional int32 isBranch = 7;
+  optional int32 isFence = 8;
+  optional int32 id = 9;
+  // repeated Trajectory trajectory = 6;
+}
+
+message VLLMObject {
+  optional common.Header header = 1;
+  optional WorkZone workZone = 2; // workZone
+}