From 87568883a934ad7d290cc23953e0e44a158bff12 Mon Sep 17 00:00:00 2001
From: guanshoukui <guanshoukui@zhito.com>
Date: Wed, 6 Mar 2024 15:51:49 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E6=B5=8B=E8=AF=95proto?=
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---
 .../protoc-plugin/example/CMakeLists.txt      |  4 ++
 .../protoc-plugin/example/chasis.proto        | 16 ++++++
 .../protoc-plugin/example/perception.proto    | 51 +++++++++++++++++++
 .../protoc-plugin/example/state.proto         |  6 +--
 4 files changed, 74 insertions(+), 3 deletions(-)
 create mode 100644 src/struct_pb/protoc-plugin/example/chasis.proto
 create mode 100644 src/struct_pb/protoc-plugin/example/perception.proto

diff --git a/src/struct_pb/protoc-plugin/example/CMakeLists.txt b/src/struct_pb/protoc-plugin/example/CMakeLists.txt
index 5e25c469b..59c348dae 100644
--- a/src/struct_pb/protoc-plugin/example/CMakeLists.txt
+++ b/src/struct_pb/protoc-plugin/example/CMakeLists.txt
@@ -17,6 +17,8 @@ if (Protobuf_FOUND)
     imu.proto
     gnss.proto
     state.proto
+    chasis.proto
+    perception.proto
     )
     add_executable(struct_pb_tutorial tutorial.cpp           
       ${PROTO_SRCS}
@@ -34,6 +36,8 @@ if (Protobuf_FOUND)
     imu.proto
     gnss.proto
     state.proto
+    chasis.proto
+    perception.proto
     OPTION "namespace=inner_struct,converter_namespace=converter")
 
 endif()
diff --git a/src/struct_pb/protoc-plugin/example/chasis.proto b/src/struct_pb/protoc-plugin/example/chasis.proto
new file mode 100644
index 000000000..e96cf35ca
--- /dev/null
+++ b/src/struct_pb/protoc-plugin/example/chasis.proto
@@ -0,0 +1,16 @@
+syntax = "proto3";
+package inner_class;
+
+import "base.proto";
+import "proto_to_struct.proto";
+
+message ZChassis
+{
+  ZFrame header = 1 [(inherits_from) = true];
+  Point4D vel = 2;
+  Point4D spd_status = 3;
+  double steering_percentage = 4;
+  double brake_percentage = 5;
+  bool parking_brake = 6;
+  int32 gear_position_type = 7;
+}
\ No newline at end of file
diff --git a/src/struct_pb/protoc-plugin/example/perception.proto b/src/struct_pb/protoc-plugin/example/perception.proto
new file mode 100644
index 000000000..a4b1f0518
--- /dev/null
+++ b/src/struct_pb/protoc-plugin/example/perception.proto
@@ -0,0 +1,51 @@
+syntax = "proto3";
+package inner_class;
+
+import "base.proto";
+import "proto_to_struct.proto";
+
+message ZPercBase
+{
+  int32 track_id = 1;
+  string id = 2;  // 需要单帧独立
+  float object_confidence = 3;
+  repeated Point3D points = 4;
+  repeated Point3D points_confidence = 5;
+}
+
+message ZPercLine
+{
+  ZPercBase base = 1 [(inherits_from) = true];
+  int32 ptype = 2;
+  int32 color = 3;
+  float c0 = 4;
+  float c1 = 5;
+  float c2 = 6;
+  float c3 = 7;
+  float begin_dist = 8;
+  float end_dist = 9;
+  int32 side_type = 10;
+}
+
+message ZPercSign
+{
+  ZPercBase base = 1 [(inherits_from) = true];
+  int32 ptype = 2;
+  float rect_width = 3;
+  float rect_height = 4;
+}
+
+message ZPercPole
+{
+  ZPercBase base = 1 [(inherits_from) = true];
+  int32 ptype = 2;
+}
+
+message ZPerception
+{
+  ZFrame header = 1  [(inherits_from) = true];
+  int32 ptype = 2;
+  repeated ZPercLine line = 3;
+  repeated ZPercSign sign = 4;
+  repeated ZPercPole pole = 5;
+}
diff --git a/src/struct_pb/protoc-plugin/example/state.proto b/src/struct_pb/protoc-plugin/example/state.proto
index 2dc83075c..0614a5439 100644
--- a/src/struct_pb/protoc-plugin/example/state.proto
+++ b/src/struct_pb/protoc-plugin/example/state.proto
@@ -5,7 +5,7 @@ import "base.proto";
 import "proto_to_struct.proto";
 
 
-message State{
+message ZState{
    ZFrame header = 1 [(inherits_from) = true];
    Point3D pos = 2;//位置: X Y Z
    Point3D pos_llh = 3; //位置:纬度 经度 高度
@@ -28,8 +28,8 @@ message AugmentationState{
    Quaternion qua = 3;
 }
    
-message ExtendState{
-   State state = 1 [(inherits_from) = true];
+message ZExtendState{
+   ZState state = 1 [(inherits_from) = true];
    IntrinsicImuPara imu_in_para = 2;
    Point4D odo_in_para = 3;
    Matrix cov = 4;