[add]添加新接口 工控机发送感知红绿灯

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

@@ -16,6 +16,7 @@ enum MessageType
     MsgTypeVehicleState = 0x10003; //底盘信息, 透传底盘状态，pb参考底盘
     MsgTypeAutopilotState = 0x10004; //自动驾驶状态
     MsgTypeReportMessage = 0x10005; //监控事件报告
+    MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
 
     MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
     MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -120,6 +121,9 @@ message AutopilotState
 // message definition for MessageType: MsgTypeReportMessage
 // refer to mogo_report_msg.proto
 
+// message definition for MessageType: MsgTypePerceptionTrafficLight
+// refer to traffic_light.proto
+
 // message definition for MessageType: MsgTypeBasicInfoReq
 message BasicInfoReq 
 {

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

@@ -0,0 +1,36 @@
+syntax = "proto2";
+package perception;
+
+import "header.proto";
+
+enum LightType {
+  TYPE_DEFAULT = 0;
+  TYPE_VEHICLE = 1;
+  TYPE_BICYLE = 2;
+  TYPE_PEDSTRIAN = 3;
+  TYPE_LANE = 5;
+}
+
+enum LightState {
+  STATE_OFF = 0;
+  STATE_RED = 1;
+  STATE_YELLOW = 2;
+  STATE_GREEN = 3;
+  STATE_FLASH = 4;
+}
+
+message TrafficLight {
+  optional int64 id = 1;
+  optional LightType type = 2 [default = TYPE_DEFAULT];
+  optional LightState state = 3 [default = STATE_OFF];
+  optional float duration = 4; // seconds since the last state changed
+}
+
+message TrafficLights {
+  optional common.Header header = 1;
+
+  optional TrafficLight straight = 2;
+  optional TrafficLight left = 3;
+  optional TrafficLight right = 4;
+  optional TrafficLight u_turn = 5;
+}