planning: add traffic light feature into learning_data proto

birdfly8888 · Feb 21, 2020 · d09c715 · d09c715
1 parent d366b06
commit d09c715
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/modules/planning/proto/BUILD b/modules/planning/proto/BUILD
@@ -600,6 +600,7 @@ proto_library(
         "//modules/canbus/proto:canbus_proto_lib",
         "//modules/common/proto:geometry_proto_lib",
         "//modules/common/proto:pnc_point_proto_lib",
+        "//modules/perception/proto:perception_proto_lib",
     ],
 )
 

diff --git a/modules/planning/proto/learning_data.proto b/modules/planning/proto/learning_data.proto
@@ -5,6 +5,7 @@ package apollo.planning;
 import "modules/canbus/proto/chassis.proto";
 import "modules/common/proto/geometry.proto";
 import "modules/common/proto/pnc_point.proto";
+import "modules/perception/proto/traffic_light_detection.proto";
 
 message ObstacleFeature {
   // TODO(all): add more obstacle features.
@@ -57,6 +58,11 @@ message ChassisFeature {
   optional apollo.canbus.Chassis.GearPosition gear_location = 5;
 }
 
+message TrafficLightFeature {
+    optional string light_id = 1;
+    optional apollo.perception.TrafficLight.Color color = 2;
+}
+
 message LearningDataFrame {
   // Message publishing time in seconds.
   optional double timestamp_sec = 1;
@@ -79,5 +85,6 @@ message LearningDataFrame {
 }
 
 message LearningData {
-  repeated LearningDataFrame learning_data = 1;
+  repeated TrafficLightFeature traffic_light = 1;
+  repeated LearningDataFrame learning_data = 2;
 }