v2x_traffic_light_policy.proto

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syntax = "proto2";
 
package apollo.v2x;
 
message Position2D {
  optional double x = 1;
  optional double y = 2;
}
 
message Connection {
  enum Type {
    STRAIGHT = 0;
    LEFT = 1;
    RIGHT = 2;
    U_TURN = 3;
  };
  optional Type allow_driving_behavior = 1;
  optional int32 phase_id = 2;
}
 
message Lane {
  optional int32 lane_id = 1;
  repeated Position2D position_offset = 2;
  repeated Connection connections = 3;
}
 
message Road {
  optional int32 upstream_node_id = 1;
  optional Position2D points = 2;
  repeated Lane lanes = 3;
}
 
message Intersection {
  optional int32 id = 1;
  optional Position2D position = 2;
  repeated Road roads = 3;
}
 
message Map {
  optional double time_stamp = 1;
  optional int32 msg_cnt = 2;
  repeated Intersection intersections = 3;
}
 
message Phase {
  enum Color {
    UNKNOWN = 0;
    RED = 1;
    YELLOW = 2;
    GREEN = 3;
    BLACK = 4;
    FLASH_GREEN = 5;
  };
  optional int32 id = 1;
  optional Color color = 2;
  optional int32 color_remaining_time_s = 3;
}
 
message IntersectionState {
  optional int32 intersection_id = 1;
  repeated Phase Phases = 2;
  optional int32 moy = 3;
  optional int32 time_stamp_dsecond = 4;
}
 
message Spat {
  optional double time_stamp = 1;
  optional int32 msg_cnt = 2;
  repeated IntersectionState intersections = 3;
}
 
message PolicyData {
  optional Map map = 1;
  optional Spat spat = 2;
}