V2X: update flags

modules/common/adapters/adapter_gflags.cc

@@ -204,10 +204,18 @@ DEFINE_string(navigation_topic, "/apollo/navigation", "navigation");
 DEFINE_string(hmi_status_topic, "/apollo/hmi/status", "HMI status topic name.");
 DEFINE_string(audio_capture_topic, "/apollo/hmi/audio_capture",
               "HMI audio capture topic name.");
+DEFINE_string(v2x_obu_trafficlight_topic,
+              "/apollo/v2x/obu/internal/traffic_light",
+              "v2x obu trafficlight topic name");
 DEFINE_string(v2x_obstacle_topic, "/apollo/v2x/obstacles",
               "v2x obstacles topic name");
 DEFINE_string(v2x_trafficlight_topic, "/apollo/v2x/traffic_light",
-              "v2x trafficlight topic name");
+              "v2x traffic light topic name");
+DEFINE_string(v2x_trafficlight_for_hmi_topic,
+              "/apollo/v2x/traffic_light/for_hmi",
+              "v2x traffic light topic name for hmi");
+DEFINE_string(v2x_rsi_topic, "/apollo/v2x/rsi", "v2x rsi topic name");
+
 DEFINE_string(storytelling_topic, "/apollo/storytelling",
               "Storytelling topic.");
 DEFINE_string(audio_event_topic, "/apollo/audio_event",

modules/common/adapters/adapter_gflags.h

@@ -102,8 +102,11 @@ DECLARE_string(relative_map_topic);
 DECLARE_string(navigation_topic);
 DECLARE_string(hmi_status_topic);
 DECLARE_string(audio_capture_topic);
+DECLARE_string(v2x_obu_trafficlight_topic);
 DECLARE_string(v2x_obstacle_topic);
 DECLARE_string(v2x_trafficlight_topic);
+DECLARE_string(v2x_trafficlight_for_hmi_topic);
+DECLARE_string(v2x_rsi_topic);
 DECLARE_string(storytelling_topic);
 DECLARE_string(gnss_raw_data_topic);
 DECLARE_string(stream_status_topic);

modules/v2x/common/v2x_proxy_gflags.cc

@@ -24,10 +24,14 @@
 namespace apollo {
 namespace v2x {
 
+// IP & PORT
 DEFINE_string(grpc_client_host, "127.0.0.1", "grpc client host ip");
 DEFINE_string(grpc_server_host, "127.0.0.1", "grpc server host ip");
-DEFINE_string(grpc_client_port, "50100", "grpc client port num");
-DEFINE_string(grpc_server_port, "50101", "grpc server port num");
+DEFINE_string(grpc_client_port, "50100", "grpc client port");
+DEFINE_string(grpc_server_port, "50101", "grpc server port");
+DEFINE_string(grpc_debug_server_port, "50102", "grpc server debug port");
+
+// Other Flags
 DEFINE_int64(x2v_trafficlight_timer_frequency, 10,
              "x2v trafficlight timer frequency");
 DEFINE_bool(debug_flag, false, "debug flag");
@@ -36,6 +40,19 @@ DEFINE_int64(v2x_carstatus_timer_frequency, 10,
 DEFINE_string(hdmap_file_name,
               "/apollo/modules/map/data/sunnyvale_big_loop/base_map.bin",
               "hdmap file name");
-DEFINE_double(traffic_light_distance, 1000.0, "traffic light distance");
+DEFINE_double(traffic_light_distance, 250.0, "traffic light distance");
+DEFINE_double(heading_difference, 30.0 / 180.0, "max heading difference");
+DEFINE_int64(list_size, 6, "size of list which stores the traffic light data");
+DEFINE_int64(msg_timeout, 250, "timeout value which getting the msg from OBU");
+DEFINE_int64(sim_sending_num, 10, "the max sending times");
+DEFINE_bool(use_nearest_flag, true,
+            "use the hdmap interface get_forward_nearest_signals_on_lane flag");
+DEFINE_int64(spat_period, 150, "SPAT message periond");
+DEFINE_double(check_time, 0.5, "SPAT message periond");
+DEFINE_int64(rsu_whitelist_period, 3 * 1000, "get whitelist periond");  // 3s
+DEFINE_string(rsu_whitelist_name,
+              "/apollo/modules/v2x/conf/rsu_whitelist.txt",
+              "file name for RSU whitelist");
+
 }  // namespace v2x
 }  // namespace apollo

modules/v2x/common/v2x_proxy_gflags.h

@@ -26,14 +26,28 @@
 namespace apollo {
 namespace v2x {
 
+// IP & PORT
 DECLARE_string(grpc_client_host);
 DECLARE_string(grpc_server_host);
 DECLARE_string(grpc_client_port);
 DECLARE_string(grpc_server_port);
+DECLARE_string(grpc_debug_server_port);
+
+// Other Flags
 DECLARE_int64(x2v_trafficlight_timer_frequency);
 DECLARE_bool(debug_flag);
 DECLARE_int64(v2x_carstatus_timer_frequency);
 DECLARE_string(hdmap_file_name);
 DECLARE_double(traffic_light_distance);
+DECLARE_double(heading_difference);
+DECLARE_int64(list_size);
+DECLARE_int64(msg_timeout);
+DECLARE_int64(sim_sending_num);
+DECLARE_bool(use_nearest_flag);
+DECLARE_int64(spat_period);
+DECLARE_double(check_time);
+DECLARE_int64(rsu_whitelist_period);
+DECLARE_string(rsu_whitelist_name);
+
 }  // namespace v2x
 }  // namespace apollo

modules/v2x/conf/v2x.conf

---debug_flag=false
 --x2v_trafficlight_timer_frequency=10
 --v2x_carstatus_timer_frequency=10
---grpc_client_host=192.168.10.123
+--grpc_client_host=192.168.10.21
 --grpc_server_host=192.168.10.6
+--hdmap_file_name=/apollo/modules/map/data/sunnyvale_big_loop/base_map.bin
+--rsu_whitelist_name=/apollo/modules/v2x/conf/rsu_whitelist.txt
+