[change]pb添加planning障碍物接口和发送轨迹下载请求接口，以及启动自动驾驶接口添加新字段；添加发送轨迹下载请求接口解析和发送功能。

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

@@ -19,6 +19,7 @@ enum MessageType
     MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
     MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
     MsgTypePointCloud = 0x10008; //点云透传
+    MsgTypePlanningObjects = 0x10009; //planning障碍物
 
     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
@@ -36,6 +37,7 @@ enum MessageType
     MsgTypeWarn = 0x1010d; //预警数据
     MsgTypeArrivalNotification = 0x1010e; //到站提醒
     MsgTypeSystemCmdReq = 0x1010f; //系统命令请求, 比如系统重启，启用新镜像
+    MsgTypeTrajectoryDownloadReq = 0x10110; //轨迹下载请求
 }
 
 message Header
@@ -83,7 +85,7 @@ message TrackedObject
     double heading = 10; //车辆朝向
     double speed = 11; //车辆速度
     uint32 drawLevel = 12; //危险等级 1 绿,2 黄,3 红
-    double driverTime = 13; //驱动感知时间
+    double driverTime = 13; //驱动感知时间, abandoned
 }
 
 message TrackedObjects
@@ -112,13 +114,13 @@ message GnssInfo
 // message definition for MessageType: MsgTypeAutopilotState
 message AutopilotState
 {
-    uint32 state = 1; //0: 不可用, 1:ready, 2:自动驾驶中
+    uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中
     uint32 camera = 2; //camera节点状态 1:开启，0:关闭
     uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
     uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
     uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
     double speed = 6; //惯导车速 m/s
-    string reason = 7; //不可用原因
+    string reason = 7; //不可用原因(abandoned)
 }
 
 // message definition for MessageType: MsgTypeReportMessage
@@ -131,7 +133,36 @@ message AutopilotState
 // refer to prediction.proto
 
 // message definition for MessageType: MsgTypePointCloud
-// refer to point_cloud.proto
+// refer to mogo_point_cloud.proto
+
+// message definition for MessageType: MsgTypePlanningObjects
+message PlanningObject
+{
+    uint32 uuid = 1; 
+    uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事
+}
+
+message PlanningObjects
+{
+    repeated PlanningObject objs = 1; 
+}
+
+// message definition for MsgTypeTrajectoryDownloadReq
+message Line
+{
+    uint64 lineId = 1; //路线id，默认-1
+    string trajUrl = 2; //轨迹文件下载的cos url，默认“”
+    string trajMd5 = 3; //轨迹文件md5，默认“”
+    string stopUrl = 4; //打点文件下载的cos url，默认“”
+    string stopMd5 = 5; //轨迹文件md5，默认“”
+    uint64 timestamp = 6; //上传轨迹完成时间戳(ms)：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
+    string vehicleModel = 7; //车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
+}
+
+message TrajectoryDownloadReq
+{
+    Line line = 1; //路线
+}
 
 // message definition for MessageType: MsgTypeBasicInfoReq
 message BasicInfoReq 
@@ -162,9 +193,10 @@ message RouteInfo{
     repeated Location wayPoints = 5;
     double speedLimit = 6; //单位: km/h
     uint32 vehicleType = 7;
-    bool isSpeakVoice = 8;
+    bool isSpeakVoice = 8; //abandoned
     uint32 routeID = 9;
     string routeName = 10;
+    Line line = 11; //路线信息
 }
 
 message SetAutopilotModeReq
@@ -280,7 +312,7 @@ message Warn
 // message definition for MsgTypeArrivalNotification
 message ArrivalNotification
 {
-    uint32 carType = 1; //deserted
+    uint32 carType = 1; //abandoned
     Location endLocation = 2;
 }
 
@@ -292,7 +324,7 @@ enum SystemCmdType {
 
 message SystemCmdReq
 {
-    SystemCmdType cmdType = 1;
+    SystemCmdType cmdType = 1; //
 }
 
 
@@ -301,3 +333,6 @@ message SystemCmdReq
 
 
 
+
+
+