[650][adas] NDE V2N事件：绿波通行（单路口）事件推送, 透传、行人横穿（路侧）事件推送, 透传、他车逆行（路侧）事件推送, 透传、拥堵事件推送, 透传;数据中心新增NDE相关接口
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xinfengkun
@@ -80,6 +80,10 @@ public enum MessageType {
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TYPE_RECEIVE_PARALLEL_DRIVING_STATUS(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶状态", 5000),
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TYPE_SEND_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "发送消息回执"),
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TYPE_RECEIVE_RECEIVED_ACK(MessagePad.MessageType.MsgTypeReceivedAck, "接收消息回执"),
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TYPE_RECEIVE_V2N_NIO_GREEN_WAVE_PASSAGE_EVENT(MessagePad.MessageType.MsgTypeV2nNioGreenWavePassageEvent, "V2N NIO绿波通行（单路口）"),
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TYPE_RECEIVE_V2N_NIO_CROSSOVER_EVENT(MessagePad.MessageType.MsgTypeV2nNioCrossoverEvent, "V2N NIO行人横穿（路侧）"),
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TYPE_RECEIVE_V2N_NIO_OTHER_RETROGRADE_EVENT(MessagePad.MessageType.MsgTypeV2nNioOtherRetrogradeEvent, "V2N NIO他车逆行（路侧）"),
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TYPE_RECEIVE_V2N_NIO_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nNioCongestionEvent, "V2N NIO拥堵事件"),
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//TODO 透传原始pb文件中不存在以下type。由于Java中无法强转,所以在mogo-adas-data/message_pad.proto中放开注释
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TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态"),
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TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, "清扫车指标数据"),
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@@ -77,6 +77,11 @@ enum MessageType
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MsgTypeGetDebugInfo = 0x10125; //debug信息查询 pad->telematics
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MsgTypeParallelDrivingCmd = 0x10126; //无人化场景，平行驾驶请求相关指令及状态反馈, 云控<->鹰眼双向透传
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MsgTypeReceivedAck = 0x10127; //消息接收ack, 表示消息已接收到
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MsgTypeV2nNioGreenWavePassageEvent = 0x10128; //绿波通行（单路口）事件推送, 透传
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MsgTypeV2nNioCrossoverEvent = 0x10129; //行人横穿（路侧）事件推送, 透传
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MsgTypeV2nNioOtherRetrogradeEvent = 0x1012a; //他车逆行（路侧）事件推送, 透传
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MsgTypeV2nNioCongestionEvent = 0x1012b; //拥堵事件推送, 透传
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}
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message Header
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@@ -94,6 +99,130 @@ message ReceivedAck
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repeated uint64 msgids = 1; //确认收到的msgid列表
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}
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// message definition for MsgTypeV2nNioGreenWavePassageEvent
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message V2nCrossSpeed
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{
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//直行
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uint32 speed_straight_min = 1;
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uint32 speed_straight_max = 2;
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//左转
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uint32 speed_left_min = 3;
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uint32 speed_left_max = 4;
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//右转
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uint32 speed_right_min = 5;
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uint32 speed_right_max = 6;
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//车道限速
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uint32 max_speed = 7;
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//限速来源 0融合 1默认
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uint32 max_status = 8;
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//路口经度
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double lng = 9;
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//路口纬度
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double lat = 10;
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}
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// message definition for MsgTypeV2nNioCongestionEvent
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message V2nCongestion
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{
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// 消息时间,发送消息时间戳，单位毫秒
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uint64 msg_time = 1;
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// 消息名称
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string msg_name = 2;
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// 数据源，0:路侧设备、1:人工上报、2:地图、3:三方数据源
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uint32 data_source = 3;
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// 路段拥堵详情
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repeated CongestionInfo infos = 4;
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}
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message Geo{
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// 经度
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double lon = 1;
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// 维度
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double lat = 2;
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}
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message EventLocationGeo{
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//开始经度--队头
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double startLng = 1;
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//开始纬度--队头
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double startLat = 2;
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//结束经度 -- 队尾
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double endLng = 3;
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//结束纬度 --队尾
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double endLat =4;
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// 事件区域--- 车道中心线的坐标
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repeated Geo regions = 5;
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}
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message TimePeriod{
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// 事件开始时间，UTC+0 时间戳，精确到毫秒
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uint64 start_time = 1;
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// 事件结束时间，UTC+0 时间戳，精确到毫秒，没有传 0
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uint64 end_time = 2;
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// 事件更新时间，UTC+0 时间戳，精确到毫秒，没有传 0
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uint64 update_time = 3;
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// 事件确认时间，UTC+0 时间戳，精确到毫秒，没有传 0
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uint64 confirm_time = 4;
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}
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message CongestionInfo
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{
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// 事件状态，0:消散、1:生成
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uint32 data_status = 1;
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// 事件时间相关信息
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TimePeriod time_period = 2;
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// 事件发生位置的经纬度信息
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EventLocationGeo event_location_geo = 3;
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//事件发生的原始照片
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repeated string img_file_key = 4;
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// 事件类型, 101 施工、 102 三角牌, 103 静止车,104 拥堵
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uint32 event_type = 5;
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// 事件唯一性
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string msg_uuid = 6;
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// 拥堵等级 1，畅通，2，缓行，3，拥堵，4，严重拥堵
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uint32 congestion_level = 7;
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// 车道号
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uint32 lane_no = 8;
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// 拥堵细类 0，路段拥堵，1 路口拥堵
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uint32 congestion_type = 9;
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// 车道方向，正北是0，顺时针方向
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double bearing = 10;
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// 如果拥堵细类是路口，则有该路口中心点坐标
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double lon = 11;
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double lat = 12;
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// 视频地址 2024-06-03新增字段
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string video_url = 13;
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// 来源ip 2024-06-03 新增字段
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string camera_ip = 14;
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}
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enum EventType
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{
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CONVERSE_RUNNING = 0;//逆行/倒车
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SLOW_RUNNING = 1;//慢行
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SPEEDING_RUNNING = 2;//快行
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EMERGENCY_BRAKING = 3;//紧急制动
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ABNORMAL_PARKING = 4;//异常停车
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NON_VEHICLE_INTRUSION = 5;//行人/非机动车闯入
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}
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// message definition for MsgTypeV2nNioCrossoverEvent / MsgTypeV2nNioOtherRetrogradeEvent
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message Event
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{
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uint32 channelId = 1; //渠道来源，mogo默认10
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uint64 rcuId = 2; //平台未维护，暂用基站号
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EventType eventType = 3; //事件类别
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uint32 confidence = 4; //事件置信度
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uint32 gnssType = 5; //坐标系类型， 0:GCJ02坐标系，2:WGS84坐标系
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double longitude = 6;
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double latitude = 7;
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uint64 timestamp = 8; //时间戳
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string eventId = 9; // 事件id
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string exts = 10; //扩展字段，传递相机ip，{"cameraIp":"172.18.7.40"}
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uint32 targetIdsLen = 11; //事件关联的目标对象uuid个数
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repeated string targetIds = 12; //事件关联的目标对象uuid列表
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}
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// message definition for MsgTypeTrajectory
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message TrajectoryPoint
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{
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@@ -345,7 +474,7 @@ message CarConfigResp
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double maxAcceleration = 8; //最大加速度, 单位：m/s²
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string carType = 9; //车辆类型
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string subCarType = 10; //车辆子类型
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string vinCode = 11;//车辆vin码
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string vinCode = 11;//车辆vin码 taxi: 420 bus: 440
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reserved 12 to 100;
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int32 mapVersion = 101;//dockVersion解析出版本号，仅用于版本对比，解析失败为-1。例如："MAP-taxi_RoboTaxi_df_2.8.0.3_20220928_test" 解析结果为：20800
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bool isDF = 102;//车型是否是东风
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