planning: update proto for emergency_stop scenario

modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json

@@ -6640,6 +6640,17 @@
                 }
               }
             },
+            "ScenarioEmergencyStopConfig": {
+              "fields": {
+                "maxStopDeceleration": {
+                  "type": "double",
+                  "id": 1,
+                  "options": {
+                    "default": 6
+                  }
+                }
+              }
+            },
             "ScenarioValetParkingConfig": {
               "fields": {
                 "parkingSpotRangeToStart": {
@@ -6725,6 +6736,7 @@
                     "laneFollowConfig",
                     "bareIntersectionUnprotectedConfig",
                     "emergencyPullOverConfig",
+                    "emergencyStopConfig",
                     "narrowStreetUTurnConfig",
                     "stopSignUnprotectedConfig",
                     "trafficLightProtectedConfig",
@@ -6754,46 +6766,50 @@
                   "type": "ScenarioEmergencyPullOverConfig",
                   "id": 5
                 },
+                "emergencyStopConfig": {
+                  "type": "ScenarioEmergencyStopConfig",
+                  "id": 6
+                },
                 "narrowStreetUTurnConfig": {
                   "type": "ScenarioNarrowStreetUTurnConfig",
-                  "id": 6
+                  "id": 7
                 },
                 "stopSignUnprotectedConfig": {
                   "type": "ScenarioStopSignUnprotectedConfig",
-                  "id": 7
+                  "id": 8
                 },
                 "trafficLightProtectedConfig": {
                   "type": "ScenarioTrafficLightProtectedConfig",
-                  "id": 8
+                  "id": 9
                 },
                 "trafficLightUnprotectedRightTurnConfig": {
                   "type": "ScenarioTrafficLightUnprotectedRightTurnConfig",
-                  "id": 9
+                  "id": 10
                 },
                 "trafficLightUnprotectedLeftTurnConfig": {
                   "type": "ScenarioTrafficLightUnprotectedLeftTurnConfig",
-                  "id": 10
+                  "id": 11
                 },
                 "parkAndGoConfig": {
                   "type": "ScenarioParkAndGoConfig",
-                  "id": 11
+                  "id": 12
                 },
                 "pullOverConfig": {
                   "type": "ScenarioPullOverConfig",
-                  "id": 12
+                  "id": 13
                 },
                 "valetParkingConfig": {
                   "type": "ScenarioValetParkingConfig",
-                  "id": 13
+                  "id": 14
                 },
                 "yieldSignConfig": {
                   "type": "ScenarioYieldSignConfig",
-                  "id": 14
+                  "id": 15
                 },
                 "stageType": {
                   "rule": "repeated",
                   "type": "StageType",
-                  "id": 15,
+                  "id": 16,
                   "options": {
                     "packed": false
                   }
@@ -6801,7 +6817,7 @@
                 "stageConfig": {
                   "rule": "repeated",
                   "type": "StageConfig",
-                  "id": 16
+                  "id": 17
                 }
               },
               "nested": {
@@ -6817,10 +6833,11 @@
                     "TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN": 8,
                     "YIELD_SIGN": 9,
                     "PULL_OVER": 10,
-                    "EMERGENCY_PULL_OVER": 11,
-                    "VALET_PARKING": 12,
-                    "NARROW_STREET_U_TURN": 13,
-                    "PARK_AND_GO": 14
+                    "VALET_PARKING": 11,
+                    "EMERGENCY_PULL_OVER": 12,
+                    "EMERGENCY_STOP": 13,
+                    "NARROW_STREET_U_TURN": 14,
+                    "PARK_AND_GO": 15
                   }
                 },
                 "StageType": {
@@ -6844,16 +6861,18 @@
                     "PULL_OVER_APPROACH": 500,
                     "PULL_OVER_RETRY_APPROACH_PARKING": 501,
                     "PULL_OVER_RETRY_PARKING": 502,
-                    "EMERGENCY_PULL_OVER_SLOW_DOWN": 510,
-                    "EMERGENCY_PULL_OVER_APPROACH": 511,
-                    "EMERGENCY_PULL_OVER_STANDBY": 512,
-                    "VALET_PARKING_APPROACHING_PARKING_SPOT": 520,
-                    "VALET_PARKING_PARKING": 521,
-                    "PARK_AND_GO_CHECK": 600,
-                    "PARK_AND_GO_CRUISE": 601,
-                    "PARK_AND_GO_ADJUST": 602,
-                    "YIELD_SIGN_APPROACH": 700,
-                    "YIELD_SIGN_CREEP": 701
+                    "EMERGENCY_PULL_OVER_SLOW_DOWN": 600,
+                    "EMERGENCY_PULL_OVER_APPROACH": 601,
+                    "EMERGENCY_PULL_OVER_STANDBY": 602,
+                    "EMERGENCY_STOP_APPROACH": 610,
+                    "EMERGENCY_STOP_STANDBY": 611,
+                    "VALET_PARKING_APPROACHING_PARKING_SPOT": 700,
+                    "VALET_PARKING_PARKING": 701,
+                    "PARK_AND_GO_CHECK": 800,
+                    "PARK_AND_GO_CRUISE": 801,
+                    "PARK_AND_GO_ADJUST": 802,
+                    "YIELD_SIGN_APPROACH": 900,
+                    "YIELD_SIGN_CREEP": 901
                   }
                 },
                 "StageConfig": {

modules/planning/proto/planning_config.proto

@@ -166,6 +166,10 @@ message ScenarioEmergencyPullOverConfig {
   optional double stop_distance = 4 [default = 1.5];  // meter
 }
 
+message ScenarioEmergencyStopConfig {
+  optional double max_stop_deceleration = 1 [default = 6.0];
+}
+
 message ScenarioValetParkingConfig {
   optional double parking_spot_range_to_start = 1 [default = 20.0];
   optional double max_valid_stop_distance = 2 [default = 1.0];  // meter
@@ -205,12 +209,14 @@ message ScenarioConfig {
 
     // parking
     PULL_OVER = 10;
-    EMERGENCY_PULL_OVER = 11;
-    VALET_PARKING = 12;
+    VALET_PARKING = 11;
+
+    EMERGENCY_PULL_OVER = 12;
+    EMERGENCY_STOP = 13;
 
     // misc
-    NARROW_STREET_U_TURN = 13;
-    PARK_AND_GO = 14;
+    NARROW_STREET_U_TURN = 14;
+    PARK_AND_GO = 15;
   }
 
   // StageType is a superset of stages from all scenarios.
@@ -250,21 +256,25 @@ message ScenarioConfig {
     PULL_OVER_RETRY_PARKING = 502;
 
     // emergency_pull_over scenario
-    EMERGENCY_PULL_OVER_SLOW_DOWN = 510;
-    EMERGENCY_PULL_OVER_APPROACH = 511;
-    EMERGENCY_PULL_OVER_STANDBY = 512;
+    EMERGENCY_PULL_OVER_SLOW_DOWN = 600;
+    EMERGENCY_PULL_OVER_APPROACH = 601;
+    EMERGENCY_PULL_OVER_STANDBY = 602;
+
+    // emergency_pull_over scenario
+    EMERGENCY_STOP_APPROACH = 610;
+    EMERGENCY_STOP_STANDBY = 611;
 
     // valet parking scenario
-    VALET_PARKING_APPROACHING_PARKING_SPOT = 520;
-    VALET_PARKING_PARKING = 521;
+    VALET_PARKING_APPROACHING_PARKING_SPOT = 700;
+    VALET_PARKING_PARKING = 701;
 
     // park_and_go scenario
-    PARK_AND_GO_CHECK = 600;
-    PARK_AND_GO_CRUISE = 601;
-    PARK_AND_GO_ADJUST = 602;
+    PARK_AND_GO_CHECK = 800;
+    PARK_AND_GO_CRUISE = 801;
+    PARK_AND_GO_ADJUST = 802;
 
-    YIELD_SIGN_APPROACH = 700;
-    YIELD_SIGN_CREEP = 701;
+    YIELD_SIGN_APPROACH = 900;
+    YIELD_SIGN_CREEP = 901;
   };
 
   message StageConfig {
@@ -283,22 +293,23 @@ message ScenarioConfig {
     ScenarioBareIntersectionUnprotectedConfig
         bare_intersection_unprotected_config = 4;
     ScenarioEmergencyPullOverConfig emergency_pull_over_config = 5;
-    ScenarioNarrowStreetUTurnConfig narrow_street_u_turn_config = 6;
-    ScenarioStopSignUnprotectedConfig stop_sign_unprotected_config = 7;
-    ScenarioTrafficLightProtectedConfig traffic_light_protected_config = 8;
+    ScenarioEmergencyStopConfig emergency_stop_config = 6;
+    ScenarioNarrowStreetUTurnConfig narrow_street_u_turn_config = 7;
+    ScenarioStopSignUnprotectedConfig stop_sign_unprotected_config = 8;
+    ScenarioTrafficLightProtectedConfig traffic_light_protected_config = 9;
     ScenarioTrafficLightUnprotectedRightTurnConfig
-        traffic_light_unprotected_right_turn_config = 9;
+        traffic_light_unprotected_right_turn_config = 10;
     ScenarioTrafficLightUnprotectedLeftTurnConfig
-        traffic_light_unprotected_left_turn_config = 10;
-    ScenarioParkAndGoConfig park_and_go_config = 11;
-    ScenarioPullOverConfig pull_over_config = 12;
-    ScenarioValetParkingConfig valet_parking_config = 13;
-    ScenarioYieldSignConfig yield_sign_config = 14;
+        traffic_light_unprotected_left_turn_config = 11;
+    ScenarioParkAndGoConfig park_and_go_config = 12;
+    ScenarioPullOverConfig pull_over_config = 13;
+    ScenarioValetParkingConfig valet_parking_config = 14;
+    ScenarioYieldSignConfig yield_sign_config = 15;
   }
   // a list of stages that are used at runtime.  The first one is default stage.
-  repeated StageType stage_type = 15;
+  repeated StageType stage_type = 16;
   // an unordered list of stage configs.
-  repeated StageConfig stage_config = 16;
+  repeated StageConfig stage_config = 17;
 }
 
 message PlannerPublicRoadConfig {