38 lines
1.0 KiB
Protocol Buffer
38 lines
1.0 KiB
Protocol Buffer
syntax = "proto2";
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package perception;
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import "header.proto";
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enum LightType {
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TYPE_DEFAULT = 0;
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TYPE_VEHICLE = 1;//机动车道
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TYPE_BICYLE = 2;//自行车道
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TYPE_PEDSTRIAN = 3;//行人道
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TYPE_LANE = 5;//车道
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}
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enum LightState {
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STATE_OFF = 0;//没检测到灯
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STATE_RED = 1;
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STATE_YELLOW = 2;
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STATE_GREEN = 3;
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STATE_FLASH = 4;//闪烁
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}
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message TrafficLight {
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optional int64 id = 1;
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optional LightType type = 2 [default = TYPE_DEFAULT];//灯所处的车道类型
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optional LightState state = 3 [default = STATE_OFF];//灯态
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optional float duration = 4; // seconds since the last state changed
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}
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//触发方式：120m以内会有信号，但远的时候可能不准，越近越准
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//straight left right u_turn 同一时间只有会有一个触发
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message TrafficLights {
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optional common.Header header = 1;
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optional TrafficLight straight = 2;//直行灯
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optional TrafficLight left = 3;//左转灯
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optional TrafficLight right = 4;//右转灯
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optional TrafficLight u_turn = 5;//掉头灯
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} |