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[650][adas] 更新红绿灯PB，新增融合数据

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This commit is contained in:
xinfengkun
2024-06-24 17:56:27 +08:00
parent db7ae84de6
commit d235abdadb
10 changed files with 72 additions and 72 deletions
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2
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
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@@ -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"),

43
libraries/mogo-adas-data/src/main/proto/fusion_traffic_light.proto Normal file
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@@ -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
}

4
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -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

43
libraries/mogo-adas-data/src/main/proto/traffic_light.proto
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@@ -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
}