[add]增加感知透传障碍物接口，获取基础配置信息修改为延时获取

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

@@ -3,7 +3,7 @@ package mogo.telematics.pad;
 
 enum ProtocolVersion{
     Defaultver = 0;
-    CurrentVersion = 2; //每次修改proto文件增加1
+    CurrentVersion = 3; //每次修改proto文件增加1
 }
 
 enum MessageType
@@ -18,6 +18,7 @@ enum MessageType
     MsgTypeReportMessage = 0x10005; //监控事件报告
     MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
     MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
+    MsgTypePerceptionObstacles = 0x10008; //透传的融合障碍物
 
     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
@@ -129,6 +130,9 @@ message AutopilotState
 // message definition for MessageType: MsgTypePredictionObstacleTrajectory
 // refer to prediction.proto
 
+// message definition for MessageType: MsgTypePerceptionObstacles
+// refer to TrackedObjects in object.proto
+
 // message definition for MessageType: MsgTypeBasicInfoReq
 message BasicInfoReq 
 {

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

@@ -0,0 +1,126 @@
+syntax = "proto2";
+package perception;
+
+import "header.proto";
+import "geometry.proto";
+
+enum ObjectType {
+  TYPE_UNKNOWN = 0;
+  TYPE_PEDESTRIAN = 3;
+  TYPE_BICYCLE = 4;
+  TYPE_MOTOR = 5;
+  TYPE_RIDER = 6;
+  TYPE_CAR = 7;
+  TYPE_TRUCK = 8;
+  TYPE_BUS = 9;
+  TYPE_TRAIN = 10;
+  TYPE_SIGN = 20;
+  TYPE_LIGHT = 30;
+  TYPE_RED = 31;
+  TYPE_GREEN = 32;
+  TYPE_YELLOW = 33;
+  TYPE_BLACK = 34;
+  TYPE_TRIANGLEROADBLOCK = 35;
+  TYPE_WARNINGTRIANGLE = 36;
+  TYPE_UNKNOWN_SMALL = 91;
+  TYPE_UNKNOWN_BIG = 92;
+  TYPE_UNKNOWN_STATIC = 93;
+  TYPE_UNKNOWN_DYNAMIC = 94;
+}
+
+message BBox2D {
+  optional double xmin = 1 [default = nan];  // in pixel.
+  optional double ymin = 2 [default = nan];
+  optional double xmax = 3 [default = nan];
+  optional double ymax = 4 [default = nan];
+}
+
+message CameraObjectSupplement {
+  optional bool on_use = 1 [default = false];
+  optional BBox2D box = 2;
+  optional int32 cols = 3;
+  optional int32 rows = 4;
+}
+
+message LidarObjectSupplement {
+  optional bool on_use = 1 [default = false];
+  // Format: [x0, y0, z0, x1, y1, z1...]
+  repeated double cloud = 2 [packed = true];
+}
+
+message RadarObjectSupplement {
+  optional bool on_use = 1 [default = false];  
+  optional float x = 2;
+  optional float y = 3;
+  optional float relative_vel_x = 4;
+  optional float relative_vel_y = 5;
+  optional float absolute_vel_x = 6;
+  optional float absolute_vel_y = 7;
+}
+
+message Object {
+  optional uint32 id = 1;                // obj id, after tracked
+  optional string sensor_name = 2;
+  
+  optional ObjectType type = 3;          // obj category
+  
+  optional double time_stamp = 4;        // sensing time
+  optional float confidence = 5;         // probability
+  optional int32 status = 6;             // reserved
+
+  optional float x_distance = 7;         // longitudinal distance
+  optional float y_distance = 8;         // lateral distance
+  optional float angle = 9;              // obj angle relative to host vehicle
+
+  optional geometry.Point center = 10;    // x,y,z in meter
+  optional geometry.Point centroid = 11;
+  optional geometry.Vector3 size = 12;   // length width height(in meter)
+  repeated geometry.Point contour = 13;  // contour points
+
+  optional geometry.Vector3 velocity = 14; // sharing with visual/tracked obj
+  optional geometry.Vector3 acceleration = 15;
+
+  optional double tracking_time = 16;
+
+  // camera supplement
+  optional CameraObjectSupplement camera_supplement = 17;
+  // lidar supplement
+  optional LidarObjectSupplement lidar_supplement = 18;
+  // radar supplement
+  optional RadarObjectSupplement radar_supplement = 19;
+    //lidar polygon
+  repeated geometry.Point polygon = 20;  // polygon points
+}
+
+message TrackedObject {
+  optional Object obj = 1;
+
+  optional float yaw = 2;       //box orientation angle from x axis, counter clockwise(in rad),range 0 to 2*pi
+  optional float yaw_rate = 3;  //in rad/s
+  optional geometry.Vector3 velocity = 4; // absolute velocity, in m/s, vx, vy, vz
+  repeated geometry.Trace trace = 5;    // historical positions
+  repeated geometry.Trace prediction = 6; // predicted global position in future stamp
+
+  optional float absolute_longitude_v = 7;   // along lane speed, m/s
+  optional float absolute_longitude_a = 8;   // in m/s2, longitudinal acc
+  optional float absolute_lateral_v = 9;     // vertical to lane speed, left positive, m/s
+
+  optional double longitude = 10;   // longitude , in degrees
+  optional double latitude = 11;   // latitude , in degrees
+  optional double alt = 12;     // height above mean sea level in meters
+
+  optional double longitude_p = 13;   // position in East , in meters
+  optional double latitude_p = 14;   // position in North , in meters
+
+  optional double speed = 15;   //absolute speed
+
+//float x_speed             // longitudinal speed relative to host vehicle, m/s
+//float y_speed             // lateral speed relative to host vehicle, m/s
+}
+
+message TrackedObjects {
+  optional common.Header header = 1;
+  optional string sensor_name = 2;
+  repeated TrackedObject objs = 3;
+}
+