From e63f757166c2261719f876a9fed09fb1a8e24a15 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 13 Dec 2024 17:18:45 +0800 Subject: [PATCH] =?UTF-8?q?[684][adas]=E6=9B=B4=E6=96=B0FSM=20PB=E6=96=B0?= =?UTF-8?q?=E5=A2=9E=E8=AE=A2=E5=8D=95=E5=8F=B7=E5=8F=82=E6=95=B0=EF=BC=8C?= =?UTF-8?q?=E4=BB=A5=E5=8F=8A=E5=90=8C=E6=AD=A5=E5=85=B6=E4=BB=96=E5=AD=97?= =?UTF-8?q?=E6=AE=B5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- libraries/mogo-adas-data/src/main/proto/fsm2024.proto | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/libraries/mogo-adas-data/src/main/proto/fsm2024.proto b/libraries/mogo-adas-data/src/main/proto/fsm2024.proto index 1e9d3582fa..1a4a708814 100644 --- a/libraries/mogo-adas-data/src/main/proto/fsm2024.proto +++ b/libraries/mogo-adas-data/src/main/proto/fsm2024.proto @@ -20,9 +20,10 @@ enum State { enum SafetyStopMode { NOT_NEEDED = 0; - PLANNER_STOP = 1; - CONTROLLER_COMFORT_STOP = 2; - CONTROLLER_EMERGENCY_STOP = 3; + CONTROLLER_COMFORT_STOP = 1; + CONTROLLER_EMERGENCY_STOP = 2; + PLANNER_COMFORT_STOP =3; //规划舒适停车 + PLANNER_PULL_OVER = 4; //规划靠边停车 } enum ActiveMode { //数字定义与请求的数字对齐 @@ -64,10 +65,10 @@ message FSMStateMsg { required common.Header header = 1; required State function_state = 2; required SafetyStopMode fsm_safety_stop_mode = 4; //FSM如果进入safety stop，是planning 进行停车，还是control进行舒适停车，还是control进行紧急停车 - + required ActiveMode active_mode = 6; optional bool beautiful_mode = 7;//原始PB是required 由于老版本PB中不含有此字段，使用required解析会报错，所以改成optional - + optional string order_id = 8; optional string version = 9; //目前是2.0 原始PB是required 由于老版本PB中不含有此字段，使用required解析会报错，所以改成optional required bool new_msg_flag = 10;