v2x_traffic_light.proto

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syntax = "proto2";
 
package apollo.v2x;
 
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/direction.proto";
 
message SingleTrafficLight {
  enum Color {
    UNKNOWN = 0;
    RED = 1;
    YELLOW = 2;
    GREEN = 3;
    BLACK = 4;
    FLASH_GREEN = 5;
  };
  enum Type {
    STRAIGHT = 0;
    LEFT = 1;
    RIGHT = 2;
    U_TURN = 3;
  };
  optional Color color = 1;
  repeated Type traffic_light_type = 2;
  // Traffic light string-ID in the map data.
  optional string id = 3;
  optional int32 color_remaining_time_s = 4;
  optional bool right_turn_light = 5;
  // v2x next trrafic light color
  optional Color next_color = 6;
  // v2x next traffic light remaining time
  optional double next_remaining_time_s = 7;
}
 
message RoadTrafficLight {
  // Feature points of road in the map reference frame.
  optional double gps_x_m = 1;
  optional double gps_y_m = 2;
  repeated SingleTrafficLight single_traffic_light = 3;
  optional apollo.common.Direction road_attribute = 4;
}
 
message IntersectionTrafficLightData {
  optional apollo.common.Header header = 1;
  repeated RoadTrafficLight road_traffic_light = 2;
  optional int32 intersection_id = 3;
  optional double confidence = 4;
}