[650][adas] 更新红绿灯PB，新增融合数据

2024-06-24 17:56:27 +08:00
parent db7ae84de6
commit d235abdadb
10 changed files with 72 additions and 72 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -83,7 +83,7 @@ import mogo.v2x.MogoV2X
 import mogo.v2x.RoadOverviewEvents
 import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 import mogo_msg.MogoReportMsg
-import perception.TrafficLightOuterClass
+import perception.FusionTrafficLightOuterClass
 import planning.RoboSweeperTaskIndexOuterClass
 import prediction.Prediction
 import record_cache.RecordPanelOuterClass
@@ -330,10 +330,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
        }
    }

-    //感知红绿灯
+    //融合感知红绿灯
    override fun onPerceptionTrafficLight(
        header: MessagePad.Header?,
-        trafficLights: TrafficLightOuterClass.TrafficLights?
+        trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?
    ) {
        if (trafficLights != null) {
            CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
@@ -28,8 +28,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.zhjt.service.chain.ChainLog
-import perception.TrafficLightOuterClass
-import perception.TrafficLightOuterClass.TrafficLight
+import perception.FusionTrafficLightOuterClass

 fun TrafficLightStatus.convert(): TrafficLightEnum {
    return when {
@@ -40,12 +39,12 @@ fun TrafficLightStatus.convert(): TrafficLightEnum {
    }
 }

-fun TrafficLight.convert(): TrafficLightEnum {
+fun FusionTrafficLightOuterClass.FusionTrafficLight.convert(): TrafficLightEnum {
    return when (this.state) {
-        TrafficLightOuterClass.LightState.STATE_GREEN -> TrafficLightEnum.GREEN
-        TrafficLightOuterClass.LightState.STATE_YELLOW -> TrafficLightEnum.YELLOW
-        TrafficLightOuterClass.LightState.STATE_RED -> TrafficLightEnum.RED
-        TrafficLightOuterClass.LightState.STATE_OFF -> TrafficLightEnum.BLACK
+        FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION -> TrafficLightEnum.GREEN
+        FusionTrafficLightOuterClass.FusionLightState.STATE_YELLOW_FUSION -> TrafficLightEnum.YELLOW
+        FusionTrafficLightOuterClass.FusionLightState.STATE_RED_FUSION -> TrafficLightEnum.RED
+        FusionTrafficLightOuterClass.FusionLightState.STATE_OFF_FUSION -> TrafficLightEnum.BLACK
        else -> TrafficLightEnum.BLACK
    }
 }
@@ -96,7 +95,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     * 工控机感知红绿灯
     * @param trafficLights 感知红绿灯
     */
-    override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
+    override fun onAutopilotPerceptionTrafficLight(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?) {
        CallerLogger.d(
            "${SceneConstant.M_D_C}${TAG}",
            "onAutopilotPerceptionTrafficLight ---- hasObuLightStatus = $hasObuLightStatus ----hasAiLightStatus = $hasAiLightStatus , trafficLights : ${trafficLights?:"null"}"
@@ -104,7 +103,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
        if (!hasObuLightStatus) {
            if (!hasAiLightStatus) {
                trafficLights?.let {
-                    var light: TrafficLight? = null
+                    var light: FusionTrafficLightOuterClass.FusionTrafficLight? = null
                    if (it.hasStraight()) {
                        light = it.straight
                    } else if (it.hasLeft()) {
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.api.autopilot

 import mogo.telematics.pad.MessagePad
 import mogo.v2x.*
-import perception.TrafficLightOuterClass
+import perception.FusionTrafficLightOuterClass

 /**
 * @author xiaoyuzhou
@@ -24,10 +24,10 @@ interface IMoGoAutopilotIdentifyListener {
    fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?){}

    /**
-     * 感知红绿灯
+     * 融合感知红绿灯
     * @param trafficLights 感知红绿灯
     */
-    fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?){}
+    fun onAutopilotPerceptionTrafficLight(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?){}


    /**
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
@@ -4,7 +4,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import mogo.telematics.pad.MessagePad
 import mogo.v2x.*
-import perception.TrafficLightOuterClass
+import perception.FusionTrafficLightOuterClass

 /**
 * 域控制器感知数据
@@ -36,10 +36,10 @@ object CallerAutopilotIdentifyListenerManager : CallerBase<IMoGoAutopilotIdentif
    }

    /**
-     * 感知红绿灯
+     * 融合感知红绿灯
     */
    @Synchronized
-    fun invokeAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
+    fun invokeAutopilotPerceptionTrafficLight(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?) {
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotPerceptionTrafficLight(trafficLights)
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
@@ -20,7 +20,7 @@ public enum MessageType {
    TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "老底盘状态"),
    TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, "自动驾驶状态"),
    TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"),
-    TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
+    TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "融合感知红绿灯"),
    TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
    TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
    TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
--- a/libraries/mogo-adas-data/src/main/proto/fusion_traffic_light.proto
+++ b/libraries/mogo-adas-data/src/main/proto/fusion_traffic_light.proto
@@ -0,0 +1,43 @@
+syntax = "proto2";
+package perception;
+
+import "header.proto";
+
+enum FusionLightType {
+  TYPE_DEFAULT_FUSION = 0;
+  TYPE_VEHICLE_FUSION = 1;
+  TYPE_BICYLE_FUSION = 2;
+  TYPE_PEDSTRIAN_FUSION = 3;
+  TYPE_LANE_FUSION = 5;
+}
+
+enum FusionLightState {
+  STATE_OFF_FUSION = 0;
+  STATE_RED_FUSION = 1;
+  STATE_YELLOW_FUSION = 2;
+  STATE_GREEN_FUSION = 3;
+  STATE_FLASH_FUSION = 4;
+}
+
+message FusionTrafficLight {
+  optional int64 id = 1;
+  optional FusionLightType type = 2 [default = TYPE_DEFAULT_FUSION];
+  optional FusionLightState state = 3 [default = STATE_OFF_FUSION];
+  optional float duration = 4; // seconds since the last state changed
+  optional FusionLightState next_state = 5 [default = STATE_OFF_FUSION];
+  optional float next_duration = 6 [default = -1.0]; // seconds since the last state changed
+  optional FusionLightState next_two_state = 7 [default = STATE_OFF_FUSION];
+  optional float next_two_duration = 8 [default = -1.0]; // seconds since the last state changed
+}
+
+message FusionTrafficLights {
+  optional common.Header header = 1;
+
+  optional FusionTrafficLight straight = 2;
+  optional FusionTrafficLight left = 3;
+  optional FusionTrafficLight right = 4;
+  optional FusionTrafficLight u_turn = 5;
+
+  optional bool shield = 6 [default = false];//wheather the traffic lights are shield
+  optional uint32 source = 7 [default = 0]; // 0: vehicle, 1:V2I, 2: V2N
+}
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -24,7 +24,7 @@ enum MessageType
    MsgTypeVehicleState = 0x10003; //底盘信息, 透传底盘状态，pb参考底盘 定频20hz
    MsgTypeAutopilotState = 0x10004; //自动驾驶状态 定频20hz
    MsgTypeReportMessage = 0x10005; //系统事件 不定频
-    MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯 定频10hz
+    MsgTypePerceptionTrafficLight = 0x10006; //融合感知红绿灯 定频10hz
    MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测 定频10hz
    MsgTypePointCloud = 0x10008; //点云透传 定频1hz
    MsgTypePlanningObjects = 0x10009; //planning障碍物 定频10hz
@@ -356,7 +356,7 @@ message AutopilotState
 // refer to mogo_report_msg.proto

 // message definition for MessageType: MsgTypePerceptionTrafficLight
-// refer to traffic_light.proto
+// refer to fusion_traffic_light.proto

 // message definition for MessageType: MsgTypePredictionObstacleTrajectory
 // refer to prediction.proto
--- a/libraries/mogo-adas-data/src/main/proto/traffic_light.proto
+++ b/libraries/mogo-adas-data/src/main/proto/traffic_light.proto
@@ -1,43 +0,0 @@
-syntax = "proto2";
-package perception;
-
-import "header.proto";
-
-enum LightType {
-  TYPE_DEFAULT = 0;
-  TYPE_VEHICLE = 1;//机动车道
-  TYPE_BICYLE = 2;//自行车道
-  TYPE_PEDSTRIAN = 3;//行人道
-  TYPE_LANE = 5;//车道
-}
-
-enum LightState {
-  STATE_OFF = 0;//没检测到灯
-  STATE_RED = 1;
-  STATE_YELLOW = 2;
-  STATE_GREEN = 3;
-  STATE_FLASH = 4;//闪烁
-  STATE_OFF_FUSION = 5;
-}
-
-message TrafficLight {
-  optional int64 id = 1;
-  optional LightType type = 2 [default = TYPE_DEFAULT];//灯所处的车道类型
-  optional LightState state = 3 [default = STATE_OFF];//灯态
-  optional float duration = 4; // seconds since the last state changed
-  optional LightState next_state = 5 [default = STATE_OFF_FUSION];
-}
-
-//触发方式：120m以内会有信号，但远的时候可能不准，越近越准
-//straight left right u_turn 同一时间只有会有一个触发
-message TrafficLights {
-  optional common.Header header = 1;
-
-  optional TrafficLight straight = 2;//直行灯
-  optional TrafficLight left = 3;//左转灯
-  optional TrafficLight right = 4;//右转灯
-  optional TrafficLight u_turn = 5;//掉头灯
-
-  optional bool shield = 6 [default = false];//wheather the traffic lights are shield
-  optional uint32 source = 7 [default = 0]; // 0: vehicle, 1:V2I, 2: V2N
-}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -38,7 +38,7 @@ import mogo.v2x.MogoV2X;
 import mogo.v2x.RoadOverviewEvents;
 import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass;
 import mogo_msg.MogoReportMsg;
-import perception.TrafficLightOuterClass;
+import perception.FusionTrafficLightOuterClass;
 import planning.RoboSweeperTaskIndexOuterClass;
 import prediction.Prediction;
 import record_cache.RecordPanelOuterClass;
@@ -128,12 +128,12 @@ public interface OnAdasListener {
    void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage);

    /**
-     * 感知红绿灯
+     * 融合感知红绿灯
     *
     * @param header        头
     * @param trafficLights 感知红绿灯
     */
-    void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights);
+    void onPerceptionTrafficLight(MessagePad.Header header, FusionTrafficLightOuterClass.FusionTrafficLights trafficLights);

    /**
     * 他车轨迹预测
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java
@@ -8,23 +8,24 @@ import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;

-import perception.TrafficLightOuterClass;
+import perception.FusionTrafficLightOuterClass;
+

 /**
- * 感知红绿灯
+ * 融合感知红绿灯
 */
 public class PerceptionTrafficLightMessage extends MyAbstractMessageHandler {

    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
-        TrafficLightOuterClass.TrafficLights trafficLights = TrafficLightOuterClass.TrafficLights.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
-        AdasChannel.calculateTimeConsumingOnDispatchRaw("感知红绿灯", raw.receiveTime);
+        FusionTrafficLightOuterClass.FusionTrafficLights trafficLights = FusionTrafficLightOuterClass.FusionTrafficLights.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("融合感知红绿灯", raw.receiveTime);
        long nowTime = 0;
        if (CupidLogUtils.isEnableLog())
            nowTime = SystemClock.elapsedRealtime();
        if (adasListener != null) {
            adasListener.onPerceptionTrafficLight(raw.getHeader(), trafficLights);
        }
-        AdasChannel.calculateTimeConsumingBusiness("感知红绿灯", nowTime);
+        AdasChannel.calculateTimeConsumingBusiness("融合感知红绿灯", nowTime);
    }
 }