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Merge branch 'dev_robotaxi-d_230809_6.0.0' into 6.0.0merge2master

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# Conflicts:
#	OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
This commit is contained in:
yangyakun
2023-09-11 17:43:17 +08:00
parent ea468d9eb1 1e0c42d15a
commit e53ee5e6ca
3672 changed files with 38961 additions and 14144 deletions
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10
libraries/mogo-adas-data/src/main/proto/chassis.proto
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@@ -100,3 +100,13 @@ enum CleanSystemControlMode {
Clean_PureWash_Left_Work = 13;
Clean_PureWash_Right_Work = 14;
}
enum DoorNumber {
NONE = 0;
FRONT_LEFT = 1;
FRONT_RIGHT = 2;
REAR_LEFT = 3;
REAR_RIGHT = 4;
MIDDLE = 5;
}

17
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -30,8 +30,9 @@ enum MessageType
MsgTypeOBU = 0x1000a; //OBU
MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
MsgTypeBackCameraVideo = 0x1000d; //清扫车后部摄像头视频 10hz
MsgTypeBackCameraVideo = 0x1000d; //后部摄像头视频 10hz
MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 10hz
MsgTypeSSMState = 0x1000f; //ssm 系统状态 1hz hq m1 MAP350开始支持，其他车型MAP360开始支持
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
@@ -247,17 +248,20 @@ message Line
string stopUrl_dpqp = 10; //打点文件下载的cos url，默认“”
string stopMd5_dpqp = 11; //轨迹文件md5，默认“”
uint64 timestamp_dpqp = 12; //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 lineName = 13; //路线名
}
message TrajectoryDownloadReq
{
Line line = 1; //路线
uint32 source = 2; //指令来源: 0: default, 1:pad, 2:aicloud
uint32 downloadType = 3; //下载类型: 0:正常下载 1:预下载
}
// message definition for MessageType: MsgTypeBasicInfoReq
message BasicInfoReq
{
bytes certification = 1;//域控ssl证书
}
// message definition for MessageType: MsgTypeBasicInfoResp
@@ -267,6 +271,7 @@ message BasicInfoResp
uint32 environment = 2; //1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
uint32 role = 3; //客户端角色：0: 司机屏，1: 乘客屏，2: 调试屏
string version = 4; //鹰眼版本
bytes certification = 5; //鹰眼ssl证书
}
// message definition for MsgTypeSetAutopilotModeReq
@@ -603,8 +608,13 @@ message SetOneParam
// 5:停车让行线前避让等待开关(bool) 0:停车让行线前无需等待 1:停车让行线前需要等待 默认0
// 6:地图限速功能开关(bool) 0:不使用地图限速功能 1:使用地图限速功能 默认0
// 7:环岛模式开关(bool) 0:普通模式 1:环岛模式 默认0
// 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略
// 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略 默认1
// 9:m1拼接视频自车位置参数(string), 格式:x,y,width,height
// 10:故障减速停车策略开关(bool) 0:关闭故障减速停车策略 1:使用故障减速停车策略 默认1
// 11: 盲区开关(bool) 0: off 1:on /telematics/sensor/blindarea_flag
// 12: 融合v2n开关(bool) 0:不发给PnC 1:发给Pnc /telematics/fusion/v2n_flag
// 13: 融合v2i开关(bool) 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0 /telematics/fusion/v2i_flag
// 14: 融合模式(int) 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1 /telematics/fusion/fusion_mode
string value = 2; // 转成字符串的值
}
@@ -700,3 +710,6 @@ message SessionInfo
uint64 connectedTimeStamp = 4;
string version = 5;
}
//message definition for MsgTypeSSMState
//refer to ssm_info.proto for details

3
libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto
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@@ -1,11 +1,12 @@
syntax = "proto3";
package mogo.telematics;
enum ParamSetType
enum ParamSetType
{
ParamSetTypeNone = 0;
ParamSetTypeBlindArea = 1; //bool, 0:off 1:on
ParamSetTypeV2N = 2; //bool, 0:不发给PnC 1:发给Pnc
ParamSetTypeV2I = 3; //bool, 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0
}
message ParamSetCmd

5
libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
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@@ -14,5 +14,10 @@ enum MapSystemParamType{
RAMP_THETA_VALID = 7;//环岛模式开关
WEAK_NET_SLOW_DOWN = 8;//弱网减速停车策略开关
M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM = 9;//m1拼接视频自车位置参数(string), 格式:x,y,width,height
BREAKDOWN_SLOW_DOWN = 10;//故障减速停车策路开关
BLIND_AREA = 11;//盲区开关(bool) 0: off 1:on /telematics/sensor/blindarea_flag
V2N_TO_PNC = 12;//融合v2n开关(bool) 0:不发给PnC 1:发给Pnc /telematics/fusion/v2n_flag
V2I_TO_PNC = 13;//融合v2i开关(bool) 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0 /telematics/fusion/v2i_flag
FUSION_MODE = 14;//融合模式(int) 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1 /telematics/fusion/fusion_mode
}

18
libraries/mogo-adas-data/src/main/proto/personal/ssm_base.proto Normal file
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@@ -0,0 +1,18 @@
syntax = "proto2";
package system_master;
enum HealthState {
NORMAL = 0;
FAULT = 1;
UNKNOW = 2;
}
message HealthInfo{
required string name = 1; //node name
required HealthState state = 2; //health state
optional string code = 3; //code 与系统事件错误码对应，如有该错误填写，没有不填
optional string desc = 4; //补充描述，用于未知情况
}

54
libraries/mogo-adas-data/src/main/proto/ssm_info.proto Normal file
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@@ -0,0 +1,54 @@
syntax = "proto2";
package system_master;
import "personal/ssm_base.proto";
enum NodeState {
NONE = 0; //未知状态None
WAITING = 1; //依赖未就绪Waiting
STARTING = 2; //启动中Starting
RUNNING = 3; //运行running
STOPPING = 4; //停止stopping
BROKEN = 5; //无法启动状态
MAN_RUN = 6; //非自动启动状态
MAN_STOP = 7; //非自动关闭状态
}
enum AgentState {
DISCONNECT = 0; //未连接或断开连接
CONNECTED = 1; //连接状态
}
enum ModeState {
MODE_STOP_UNREADY = 0; //停止模式-未就绪
MODE_STOP_READY = 1; //运行模式-就绪 (所有节点关闭)
MODE_RUN_UNREADY = 2; //运行模式-未就绪
MODE_RUN_READY = 3; //运行模式-就绪 (所有节点启动)
MODE_IDLE_UNREADY = 4; //空闲模式-未就绪
MODE_IDLE_READY = 5; //空闲模式-就绪 (非驾驶状态)
}
message NodeInf {
optional string node_name = 1; //node name
optional string launch_name = 2; //launch name
optional NodeState state = 3;
}
message SsmStatusInf {
required ModeState mode_state = 1; // 当前系统模式状态
optional string map_version = 2; // MAP 版本信息
optional string master_version = 3; // SSM 版本信息
required bool auto_pilot_ready = 4; // 自动驾驶状态就绪
required bool remote_pilot_ready = 5; // 平行驾驶状态就绪
repeated NodeInf auto_pilot_unready_list = 6; //自驾未就绪节点列表
repeated NodeInf remote_pilot_unready_list = 7; //平行驾驶未就绪列表
optional string auto_pilot_unready_reason = 8; //自动驾驶状态未就绪原因描述
optional string remote_pilot_unready_reason = 9; //平行驾驶状态未就绪原因描述
repeated HealthInfo health_info=10; // 健康检查状态信息
optional uint64 cur_used_lineid = 20 [default = 0]; //0：当前无可用轨迹，需要下单，other: 可用轨迹id
optional string hd_map_ver = 21; //高精地图版本
optional string slam_map_ver = 22; //slam地图版本
optional string grid_map_ver = 23; //栅格地图版本
}

22
libraries/mogo-adas-data/src/main/proto/system_status_info.proto
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@@ -1,6 +1,7 @@
syntax = "proto2";
package system_master;
import "personal/ssm_base.proto";
enum SystemState {
SYS_STARTING = 0; //系统正在启动
@@ -14,19 +15,6 @@ enum SystemState {
REMOTE_PILOT_RUNNING = 8; //平行驾驶运行中
}
enum HealthState {
NORMAL = 0;//正常
FAULT = 1;//异常
UNKNOW = 2;//未知
}
message HealthInfo{
required string name = 1; //node name
required HealthState state = 2; //health state
optional string code = 3; //code 与系统事件错误码对应，如有该错误填写，没有不填
optional string desc = 4; //补充描述，用于未知情况
}
message TopicInfo{
optional string name = 1; //topic name
optional int32 hz = 2; //Topic发送的频率
@@ -50,7 +38,7 @@ message NodeFaultList{
message StatusInfo {
required SystemState sys_state=1; // 当前系统状态
repeated HealthInfo health_info=2; // 健康检查状态信息
repeated HealthInfo health_info=2; // 健康检查状态信息
optional DropTopic topic_drop_info=3; // topic 掉频信息， 如有掉频添加没有不添加
optional string reserved = 4; // 用于表示idle模式，'idle' 表示idle模式 'work' 表示正常工作
// add by liyl 20220907
@@ -63,5 +51,9 @@ message StatusInfo {
optional NodeFaultList remote_pilot_unready_list = 11; //平行驾驶未就绪列表, 20221128 增加
optional string auto_pilot_unready_reason = 12; //自动驾驶状态未就绪原因描述
optional string remote_pilot_unready_reason = 13; //平行驾驶状态未就绪原因描述
}
optional uint64 cur_used_lineid = 20 [default = 0]; //0：当前无可用轨迹，需要下单，other: 可用轨迹id
optional string hd_map_ver = 21; //高精地图版本
optional string slam_map_ver = 22; //slam地图版本
optional string grid_map_ver = 23; //栅格地图版本
}

11
libraries/mogo-adas-data/src/main/proto/vehicle_state.proto
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@@ -74,6 +74,11 @@ message DoorState {
optional bool is_on = 1; //是否开启
}
message DoorStateV2 {
optional DoorNumber number = 1; // 车门编号
optional uint32 status = 2; // 车门开闭状态(0-关, 1-开)
}
message LightState {
optional bool is_on = 1; //是否开启
optional uint32 color = 2; //颜色
@@ -116,13 +121,13 @@ message VehicleState {
optional bool steer_inference = 23 [default = false]; //方向盘干预
optional bool brake_inference = 24 [default = false]; //制动踏板干预
optional bool accel_inference = 25 [default = false]; //加速踏板干预
optional bool gear_switch_inference = 26 [default = false]; //档位切换干预
optional bool gear_switch_inference = 26 [default = false]; //档位切换干预
optional bool location_missing = 27 [default = false]; //未收到定位
optional bool trajectory_missing = 28 [default = false]; //未收到轨迹
optional bool chassis_status_missing = 29 [default = false]; //未收到车辆底盘反馈信息
optional bool brake_light_status = 30 [default = false]; //自驾模式下制动灯状态
optional bool pilot_mode_condition_met = 31 [default = false];
optional float steeringSpd = 32 [default = 0]; // steering angle speed in degrees/s
optional float leftFrontWheelAngle = 33 [default = 0];//左前轮角度（deg）,左负右正
@@ -136,6 +141,8 @@ message VehicleState {
optional float bms_soc = 40 [default = 0]; // 电量百分比范围 0~100
optional float fuel_value = 41 [default = 0]; // 油车剩余油量
repeated DoorStateV2 door_state = 42; // 车门状态
optional SweeperFuTianCleanSystemState sweeper_futian_clean_system_state = 200; // 福田清扫车上装状态信息
optional RoboTaxiState robo_taxi_state = 201; // taxi状态
optional RoboBusState robo_bus_state = 202; // bus状态