add controlled vehicle route

tsinghua-fib-lab · Oct 27, 2024 · 1606b56 · 1606b56
1 parent a4bcbb6
commit 1606b56
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Showing 47 changed files with 1,967 additions and 819 deletions.
diff --git a/city/person/v2/person_service.proto b/city/person/v2/person_service.proto
@@ -166,6 +166,9 @@ message SetControlledVehicleIDsRequest {
   // 由外部控制行为的vehicle id列表
   // List of vehicle ids controlled by external behavior
   repeated int32 vehicle_ids = 1;
+  // 由外部控制车辆路由的vehicle id列表（在进入新的road后触发控制）
+  // List of vehicle ids controlled by external behavior (control is triggered after entering a new road)
+  repeated int32 route_vehicle_ids = 2;
 }
 
 // 设置由外部控制行为的vehicle响应
@@ -182,6 +185,9 @@ message FetchControlledVehicleEnvsResponse {
   // 由外部控制行为的vehicle信息
   // Information of vehicle controlled by external behavior
   repeated VehicleEnv vehicle_envs = 1;
+  // 由外部控制车辆路由的vehicle信息
+  // Information of vehicle controlled by external behavior (control is triggered after entering a new road)
+  repeated VehicleEnv route_vehicle_envs = 2;
 }
 
 // 设置由外部控制行为的vehicle的行为请求
@@ -190,6 +196,9 @@ message SetControlledVehicleActionsRequest {
   // 由外部控制行为的vehicle的行为
   // Behavior of vehicle controlled by external behavior
   repeated VehicleAction vehicle_actions = 1;
+  // 由外部控制车辆路由的vehicle的新路由
+  // New route of vehicle controlled by external behavior (control is triggered after entering a new road)
+  repeated VehicleRouteAction vehicle_journeys = 2;
 }
 
 // 设置由外部控制行为的vehicle的行为响应

diff --git a/city/person/v2/vehicle.proto b/city/person/v2/vehicle.proto
@@ -39,6 +39,17 @@ message VehicleAction {
   double angle = 3;
 }
 
+// 修改车辆路由信息
+// vehicle routing information modification
+message VehicleRouteAction {
+  // 车辆编号
+  // vehicle id
+  int32 id = 1;
+  // 新的路径规划结果
+  // new routing result
+  city.routing.v2.Journey journey = 2;
+}
+
 message VehicleRuntime {
   // 基本运行时信息
   // basic runtime information

diff --git a/cpp/city/person/v2/person_service.pb.cc b/cpp/city/person/v2/person_service.pb.cc
diff --git a/cpp/city/person/v2/person_service.pb.h b/cpp/city/person/v2/person_service.pb.h