[650][adas] 更新红绿灯PB，新增融合数据

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"),

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
+}

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

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
-}

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

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);
     }
 }