from typing import Literal
from pydantic import BaseModel, Field
from enum import Enum
import numpy as np
from dataclasses import dataclass
from .geometry import Vector2, Vector3
class BuildingInfo(BaseModel):
"""建筑物信息"""
id: str = Field(description="建筑物 ID")
name: str = Field(alias="displayName", description="建筑物名称")
pos_x: float = Field(alias="posX", description="位置 X")
pos_y: float = Field(alias="posY", description="位置 Y")
pos_z: float = Field(alias="posZ", description="位置 Z")
ori_x: float = Field(alias="oriX", description="欧拉角 X（单位：角度）")
ori_y: float = Field(alias="oriY", description="欧拉角 Y（单位：角度）")
ori_z: float = Field(alias="oriZ", description="欧拉角 Z（单位：角度）")
length: float = Field(description="长度")
width: float = Field(description="宽度")
height: float = Field(description="高度")
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class VLAExtension(BaseModel):
"""VLA 扩展信息"""
buildings: list[BuildingInfo] = Field(
alias="BuildingInfos", description="建筑物信息"
)
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class VLATextOutput(BaseModel):
"""VLA 场景的文本输出"""
ocr_text: str = Field(serialization_alias="OcrText", description="OCR 文本")
time_phrase: str = Field(serialization_alias="TimeText", description="时间相关片段")
location_phrase: str = Field(
serialization_alias="LocationText", description="位置相关片段"
)
action_phrase: str = Field(
serialization_alias="ActionText", description="动作相关片段"
)
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class VLAExtensionOutput(BaseModel):
"""VLA 场景的扩展输出"""
text_info: VLATextOutput = Field(
serialization_alias="TextInfo", description="文本相关输出"
)
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class SubSceneInfo(BaseModel):
"""子场景信息"""
name: str = Field(alias="SubSceneName", description="子场景名称")
start_point: Vector3 | None = Field(
alias="StartPoint", description="起点（VLA 场景为 None）"
)
end_point: Vector3 | None = Field(
alias="EndPoint", description="终点（VLA 场景为 None）"
)
class MapConfig(BaseModel):
"""地图配置"""
path: str = Field(description="地图目录路径")
route: str = Field(description="路线文件名")
map: str = Field(description="地图文件名")
sub_scenes: list[SubSceneInfo] = Field(
alias="SubSceneInfo", description="子场景信息"
)
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class LineType(Enum):
"""道路线类型"""
MIDDLE_LINE = 1 #: 中线
SIDE_LINE = 2 #: 侧线
SOLID_LINE = 3 #: 实线
STOP_LINE = 4 #: 停止线
ZEBRA_CROSSING = 5 #: 斑马线
DASH_LINE = 6 #: 虚线
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class BorderInfo(BaseModel):
"""车道边界信息"""
type: LineType = Field(alias="borderType", description="边界类型")
path_points: list[Vector2] = Field(
alias="pathPoint", description="组成边界线的点，相邻点间隔约 3~5 米"
)
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class LaneInfo(BaseModel):
"""车道信息"""
id: str = Field(description="车道 ID")
left_border: BorderInfo = Field(alias="LeftBorder", description="左侧边界")
right_border: BorderInfo = Field(alias="RightBorder", description="右侧边界")
left_lane_id: str = Field(alias="leftLane", description="左侧车道 ID")
right_lane_id: str = Field(alias="rightLane", description="右侧车道 ID")
width: float = Field(description="车道宽度")
path_points: list[Vector2] = Field(alias="pathPoint", description="车道中心线")
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class DrivingType(Enum):
"""行驶类型"""
MOTOR_VEHICLE_ALLOWED = 1 #: 机动车可行驶
NON_MOTOR_VEHICLE_ALLOWED = 2 #: 非机动车可行驶
PEDESTRIAN_ALLOWED = 3 #: 行人可行
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class TrafficSignType(Enum):
"""交通标志"""
NO_SIGN = 0 #: 无标志
SPEED_LIMIT_SIGN = 1 #: 限速标志
STOP_SIGN = 2 #: 停止标志
V2X_SIGN = 3 #: V2X 标志
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class RoadInfo(BaseModel):
"""道路信息，一条道路(Road)由一个或多个车道(Lane)组成"""
id: str = Field(description="道路 ID")
begin_pos: Vector3 = Field(alias="beginPos", description="起点")
end_pos: Vector3 = Field(alias="endPos", description="终点")
driving_type: DrivingType = Field(alias="drivingType", description="行驶类型")
traffic_sign_type: TrafficSignType = Field(
alias="trafficSign", description="交通标志"
)
stop_line: list[Vector2] = Field(alias="stopLine", description="停止线位置")
predecessor_ids: list[str] = Field(alias="predecessor", description="前驱道路 ID")
successor_ids: list[str] = Field(alias="successor", description="后继道路 ID")
lanes: list[LaneInfo] = Field(alias="laneData", description="车道信息")
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class SceneStaticData(BaseModel):
"""场景静态信息"""
route: list[Vector3] = Field(description="路线（VLA 场景为空列表）")
roads: list[RoadInfo] = Field(description="道路信息（VLA 场景为空列表）")
sub_scenes: list[SubSceneInfo] = Field(description="子场景信息")
vla_extension: VLAExtension | None = Field(
description="VLA 扩展信息，该字段不为 None 时表示是 VLA 场景",
)
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class PoseGnss(BaseModel):
"""车辆位姿信息"""
pos_x: float = Field(alias="posX", description="位置 X")
pos_y: float = Field(alias="posY", description="位置 Y")
pos_z: float = Field(alias="posZ", description="位置 Z")
vel_x: float = Field(alias="velX", description="速度 X")
vel_y: float = Field(alias="velY", description="速度 Y")
vel_z: float = Field(alias="velZ", description="速度 Z")
ori_x: float = Field(alias="oriX", description="欧拉角 X（单位：角度）")
ori_y: float = Field(alias="oriY", description="欧拉角 Y（单位：角度）")
ori_z: float = Field(alias="oriZ", description="欧拉角 Z（单位：角度）")
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class GearMode(Enum):
"""档位模式"""
NEUTRAL = 0 #: 空档
DRIVE = 1 #: 前进档
REVERSE = 2 #: 倒车档
PARKING = 3 #: 停车档
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class MainVehicleInfo(BaseModel):
"""主车信息"""
id: int = Field(alias="mainVehicleId", description="主车 ID")
speed: float = Field(description="车速")
gear: GearMode = Field(description="档位")
throttle: float = Field(description="油门")
brake: float = Field(description="刹车")
steering: float = Field(description="方向盘")
length: float = Field(description="长度")
width: float = Field(description="宽度")
height: float = Field(description="高度")
left_blinker_on: bool = Field(
alias="Signal_Light_LeftBlinker", description="左转向灯"
)
right_blinker_on: bool = Field(
alias="Signal_Light_RightBlinker", description="右转向灯"
)
hazard_lights_on: bool = Field(alias="Signal_Light_DoubleFlash", description="双闪")
brake_lights_on: bool = Field(alias="Signal_Light_BrakeLight", description="刹车灯")
headlights_on: bool = Field(alias="Signal_Light_FrontLight", description="前灯")
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class EulerAngle(BaseModel):
"""欧拉角"""
# 场景传来的字段严谨一点应该为 oriX, oriY, oriZ，但实际是 orix, oriy, oriz
# 这里先兼容一下，否则需要修改场景代码
ori_x: float = Field(alias="orix", description="欧拉角 X（单位：角度）")
ori_y: float = Field(alias="oriy", description="欧拉角 Y（单位：角度）")
ori_z: float = Field(alias="oriz", description="欧拉角 Z（单位：角度）")
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class CameraInfo(BaseModel):
"""摄像头信息"""
id: str = Field(alias="Id", description="摄像头 ID")
position: Vector3 = Field(alias="Position", description="位置")
orientation: EulerAngle = Field(alias="Angle", description="角度")
fov: float = Field(alias="Fov", description="视场角")
intrinsic_matrix: list[float] = Field(
alias="IntrinsicMatrix", description="内参矩阵"
)
image_width: int = Field(alias="ImageW", description="图像宽度")
image_height: int = Field(alias="ImageH", description="图像高度")
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class SensorInfo(BaseModel):
"""传感器信息"""
ego_rgb_cams: list[CameraInfo] = Field(alias="egoRGBCams", description="主车摄像头")
v2x_cams: list[CameraInfo] = Field(alias="v2xCams", description="V2X 摄像头")
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class ObstacleType(Enum):
"""障碍物类型"""
UNKNOWN = 0 #: 未知障碍物
PEDESTRIAN = 4 #: 行人
CAR = 6 #: 小汽车
STATIC = 7 #: 静态障碍物
BICYCLE = 8 #: 自行车
ROAD_MARK = 12 #: 道路标记
TRAFFIC_SIGN = 13 #: 交通标志
TRAFFIC_LIGHT = 15 #: 交通信号灯
RIDER = 17 #: 骑手
TRUCK = 18 #: 卡车
BUS = 19 #: 公交车
SPECIAL_VEHICLE = 20 #: 特种车辆
MOTORCYCLE = 21 #: 摩托车
DYNAMIC = 22 #: 动态障碍物
SPEED_LIMIT_SIGN = 26 #: 限速标志（限速值以 "SpeedLimit|30"(单位：km/h) 的格式在 :attr:`ObstacleInfo.extra_info` 中给出）
BICYCLE_STATIC = 27 #: 静止自行车
ROAD_OBSTACLE = 29 #: 道路障碍物
PARKING_SLOT = 30 #: 停车位
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class ObstacleInfo(BaseModel):
"""障碍物信息"""
id: int = Field(description="障碍物 ID")
type: ObstacleType = Field(description="障碍物类型")
pos_x: float = Field(alias="posX", description="位置 X")
pos_y: float = Field(alias="posY", description="位置 Y")
pos_z: float = Field(alias="posZ", description="位置 Z")
vel_x: float = Field(alias="velX", description="速度 X")
vel_y: float = Field(alias="velY", description="速度 Y")
vel_z: float = Field(alias="velZ", description="速度 Z")
ori_x: float = Field(alias="oriX", description="欧拉角 X（单位：角度）")
ori_y: float = Field(alias="oriY", description="欧拉角 Y（单位：角度）")
ori_z: float = Field(alias="oriZ", description="欧拉角 Z（单位：角度）")
length: float = Field(description="长度")
width: float = Field(description="宽度")
height: float = Field(description="高度")
extra_info: str | None = Field(alias="RedundantValue", description="额外信息")
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class TrafficLightState(Enum):
"""交通灯状态"""
RED = 1 #: 红灯
GREEN = 2 #: 绿灯
YELLOW = 3 #: 黄灯
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class TrafficLightInfo(BaseModel):
"""一排交通灯的信息"""
id: str = Field(description="交通灯 ID")
road_id: str = Field(alias="roadId", description="道路 ID")
position: Vector3 = Field(alias="Position", description="位置")
left_state: TrafficLightState = Field(alias="turnLeftState", description="左转状态")
left_remaining_time: float = Field(
alias="turnLeftRemainder", description="左转剩余时间"
)
right_state: TrafficLightState = Field(
alias="turnRightState", description="右转状态"
)
right_remaining_time: float = Field(
alias="turnRightRemainder", description="右转剩余时间"
)
straight_state: TrafficLightState = Field(
alias="straightState", description="直行状态"
)
straight_remaining_time: float = Field(
alias="straightRemainder", description="直行剩余时间"
)
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class TrafficLightGroupInfo(BaseModel):
"""交通灯组信息，一组交通灯共同表示一个路口的信号灯信息。"""
id: str = Field(description="交通灯组 ID")
traffic_lights: list[TrafficLightInfo] = Field(
alias="trafficLightState", description="交通灯信息"
)
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class SceneStatus(BaseModel):
"""场景状态信息"""
sub_scene_name: str = Field(alias="SubSceneName", description="子场景名称")
used_time: float = Field(alias="UsedTime", description="已用时间")
time_limit: float = Field(alias="TimeLimit", description="时间限制")
end_point: Vector3 | None = Field(
alias="EndPoint", description="终点（VLA 场景为 None）"
)
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class SimCarMsg(BaseModel):
"""仿真动态信息"""
trajectory: list[Vector3] = Field(alias="Trajectory", description="推荐轨迹")
pose_gnss: PoseGnss = Field(alias="PoseGnss", description="GNSS 数据")
main_vehicle: MainVehicleInfo = Field(
alias="DataMainVehicle", description="主车信息"
)
sensor: SensorInfo = Field(alias="Sensor", description="传感器信息")
obstacles: list[ObstacleInfo] = Field(
alias="ObstacleEntryList", description="障碍物信息"
)
traffic_light_groups: list[TrafficLightGroupInfo] = Field(
alias="TrafficLightStateLists", description="交通灯组信息"
)
scene_status: SceneStatus = Field(alias="SceneStatus", description="场景状态信息")
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class VehicleControl(BaseModel):
"""车辆控制信息"""
throttle: float = Field(default=0.0, description="油门（0~1）")
brake: float = Field(default=0.0, description="刹车（0~1）")
steering: float = Field(default=0.0, description="方向盘（-1~1）")
gear: GearMode = Field(default=GearMode.DRIVE, description="档位")
left_blinker_on: bool = Field(default=False, description="左转向灯")
right_blinker_on: bool = Field(default=False, description="右转向灯")
hazard_lights_on: bool = Field(default=False, description="双闪")
headlights_on: bool = Field(default=False, description="前灯")
class VehicleControlDTO(BaseModel):
"""车辆控制场景接口模型"""
throttle: float = Field(default=0.0, description="油门（0~1）")
brake: float = Field(default=0.0, description="刹车（0~1）")
steering: float = Field(default=0.0, description="方向盘（-1~1）")
gear: GearMode = Field(default=GearMode.DRIVE, description="档位")
left_blinker_on: bool = Field(
serialization_alias="Signal_Light_LeftBlinker",
default=False,
description="左转向灯",
)
right_blinker_on: bool = Field(
serialization_alias="Signal_Light_RightBlinker",
default=False,
description="右转向灯",
)
hazard_lights_on: bool = Field(
serialization_alias="Signal_Light_DoubleFlash",
default=False,
description="双闪",
)
headlights_on: bool = Field(
serialization_alias="Signal_Light_FrontLight", default=False, description="前灯"
)
move_to_start: int = Field(serialization_alias="movetostart", description="重开")
move_to_end: int = Field(serialization_alias="movetoend", description="跳关")
class SimCarMsgOutput(BaseModel):
"""code4 中使用的输出结构"""
vehicle_control: VehicleControlDTO = Field(serialization_alias="VehicleControl")
vla_extension: VLAExtensionOutput | None = Field(
serialization_alias="VLAExtension",
description="VLA 相关的输出，非 VLA 场景时为 None",
)
class Code1(BaseModel):
"""code1 接口模型，接收静态信息"""
code: Literal[1]
map_info: MapConfig = Field(alias="MapInfo")
vla_extension: VLAExtension | None = Field(
default=None,
alias="VLAExtension",
description="VLA 扩展信息，如果为 None 则表示不是 VLA 场景",
)
class Code2(BaseModel):
"""code2 接口模型，发送API已就绪"""
code: Literal[2]
class Code3(BaseModel):
"""code3 接口模型，接收仿真动态信息"""
code: Literal[3]
sim_car_msg: SimCarMsg = Field(alias="SimCarMsg")
class Code4(BaseModel):
"""code4 接口模型，发送控制信息"""
code: Literal[4]
sim_car_msg: SimCarMsgOutput = Field(serialization_alias="SimCarMsg")
class Code5(BaseModel):
"""code5 接口模型，接收场景结束信息"""
code: Literal[5]
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@dataclass
class CameraFrame:
"""摄像头图像数据"""
id: str #: 对应 :attr:`CameraInfo.id`
frame: np.ndarray #: 图像数据