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apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/storytelling_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "story_cc_proto",
deps = [
":story_proto",
],
)
proto_library(
name = "story_proto",
srcs = ["story.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "story_py_pb2",
deps = [
":story_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/task_manager_msgs/task_manager.proto
|
syntax = "proto2";
package apollo.task_manager;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/map_msgs/map_parking_space.proto";
import "modules/common_msgs/routing_msgs/routing.proto";
enum TaskType {
CYCLE_ROUTING = 0;
PARKING_ROUTING = 1;
PARK_GO_ROUTING = 2;
}
enum JunctionType {
UNKNOWN = 0;
IN_ROAD = 1;
CROSS_ROAD = 2;
FORK_ROAD = 3;
MAIN_SIDE = 4;
}
message CycleRoutingTask {
optional int32 cycle_num = 1;
optional apollo.routing.RoutingRequest routing_request = 2;
}
message ParkingRoutingTask {
optional double lane_width = 1;
optional apollo.routing.RoutingRequest routing_request = 2;
}
message ParkGoRoutingTask {
optional int32 park_time = 1; // sec
optional apollo.routing.RoutingRequest routing_request = 2;
}
message Task {
optional apollo.common.Header header = 1;
optional string task_name = 2;
optional TaskType task_type = 3;
optional CycleRoutingTask cycle_routing_task = 4;
optional ParkingRoutingTask parking_routing_task = 5;
optional ParkGoRoutingTask park_go_routing_task = 6;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/task_manager_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "task_manager_cc_proto",
deps = [
":task_manager_proto",
],
)
proto_library(
name = "task_manager_proto",
srcs = ["task_manager.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/map_msgs:map_parking_space_proto",
"//modules/common_msgs/routing_msgs:routing_proto",
],
)
py_proto_library(
name = "task_manager_py_pb2",
deps = [
":task_manager_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/map_msgs:map_parking_space_py_pb2",
"//modules/common_msgs/routing_msgs:routing_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/v2x_msgs/v2x_traffic_light.proto
|
syntax = "proto2";
package apollo.v2x;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/direction.proto";
message SingleTrafficLight {
enum Color {
UNKNOWN = 0;
RED = 1;
YELLOW = 2;
GREEN = 3;
BLACK = 4;
FLASH_GREEN = 5;
};
enum Type {
STRAIGHT = 0;
LEFT = 1;
RIGHT = 2;
U_TURN = 3;
};
optional Color color = 1;
repeated Type traffic_light_type = 2;
// Traffic light string-ID in the map data.
optional string id = 3;
optional int32 color_remaining_time_s = 4;
optional bool right_turn_light = 5;
// v2x next trrafic light color
optional Color next_color = 6;
// v2x next traffic light remaining time
optional double next_remaining_time_s = 7;
}
message RoadTrafficLight {
// Feature points of road in the map reference frame.
optional double gps_x_m = 1;
optional double gps_y_m = 2;
repeated SingleTrafficLight single_traffic_light = 3;
optional apollo.common.Direction road_attribute = 4;
}
message IntersectionTrafficLightData {
optional apollo.common.Header header = 1;
repeated RoadTrafficLight road_traffic_light = 2;
optional int32 intersection_id = 3;
optional double confidence = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/v2x_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "v2x_traffic_light_cc_proto",
deps = [
":v2x_traffic_light_proto",
],
)
proto_library(
name = "v2x_traffic_light_proto",
srcs = ["v2x_traffic_light.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/basic_msgs:direction_proto",
],
)
py_proto_library(
name = "v2x_traffic_light_py_pb2",
deps = [
":v2x_traffic_light_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/basic_msgs:direction_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/monitor_msgs/system_status.proto
|
syntax = "proto2";
package apollo.monitor;
import "modules/common_msgs/basic_msgs/header.proto";
// Status summary. The value order is important, because when we summarize,
// larger value will overwrite smaller value:
// FATAL > ERROR > WARN > OK > UNKNOWN
message ComponentStatus {
enum Status {
UNKNOWN = 0;
OK = 1;
WARN = 2;
ERROR = 3;
FATAL = 4;
}
optional Status status = 1 [default = UNKNOWN];
optional string message = 2;
}
message Component {
// A summary of all detailed status.
optional ComponentStatus summary = 1;
// Detailed status.
optional ComponentStatus process_status = 2;
optional ComponentStatus channel_status = 3;
optional ComponentStatus resource_status = 4;
optional ComponentStatus other_status = 5;
optional ComponentStatus module_status = 6;
}
message SystemStatus {
optional apollo.common.Header header = 1;
map<string, ComponentStatus> hmi_modules = 7;
map<string, Component> components = 8;
// Some critical message for passengers. HMI should highlight it or even read
// loudly.
optional string passenger_msg = 4;
// If we have this field, safety_mode should be triggered.
// We'll check the system action and driver action continuously. If no proper
// action was taken in a specified period of time (such as 10 seconds), EStop
// will be sent to bring the vehicle into emergency full stop.
optional double safety_mode_trigger_time = 5;
optional bool require_emergency_stop = 6;
// In simulation mode, the monitor will publish message with this field set,
// so subscribers could identify it from the recorded messages.
optional bool is_realtime_in_simulation = 9;
// In some modes, other processes besides modules and monitored components may
// need to be monitored
map<string, ComponentStatus> other_components = 10;
reserved 2, 3;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/monitor_msgs/monitor_log.proto
|
syntax = "proto2";
package apollo.common.monitor;
import "modules/common_msgs/basic_msgs/header.proto";
message MonitorMessageItem {
enum MessageSource {
UNKNOWN = 1;
CANBUS = 2;
CONTROL = 3;
DECISION = 4;
LOCALIZATION = 5;
PLANNING = 6;
PREDICTION = 7;
SIMULATOR = 8;
HWSYS = 9;
ROUTING = 10;
MONITOR = 11;
HMI = 12;
RELATIVE_MAP = 13;
GNSS = 14;
CONTI_RADAR = 15;
RACOBIT_RADAR = 16;
ULTRASONIC_RADAR = 17;
MOBILEYE = 18;
DELPHI_ESR = 19;
STORYTELLING = 20;
TASK_MANAGER = 21;
}
optional MessageSource source = 1 [default = UNKNOWN];
optional string msg = 2;
enum LogLevel {
INFO = 0;
WARN = 1;
ERROR = 2;
FATAL = 3;
}
optional LogLevel log_level = 3 [default = INFO];
}
message MonitorMessage {
optional apollo.common.Header header = 1;
repeated MonitorMessageItem item = 2;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/monitor_msgs/smart_recorder_status.proto
|
syntax = "proto2";
package apollo.data;
import "modules/common_msgs/basic_msgs/header.proto";
enum RecordingState {
STOPPED = 0;
RECORDING = 1;
TERMINATING = 2;
}
message SmartRecorderStatus {
optional apollo.common.Header header = 1;
optional RecordingState recording_state = 2;
optional string state_message = 3;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/monitor_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "system_status_cc_proto",
deps = [
":system_status_proto",
],
)
proto_library(
name = "system_status_proto",
srcs = ["system_status.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "system_status_py_pb2",
deps = [
":system_status_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "smart_recorder_status_cc_proto",
deps = [
":smart_recorder_status_proto",
],
)
proto_library(
name = "smart_recorder_status_proto",
srcs = ["smart_recorder_status.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "smart_recorder_status_py_pb2",
deps = [
":smart_recorder_status_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "monitor_log_cc_proto",
deps = [
":monitor_log_proto",
],
)
proto_library(
name = "monitor_log_proto",
srcs = ["monitor_log.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "monitor_log_py_pb2",
deps = [
":monitor_log_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/chassis_msgs/chassis.proto
|
syntax = "proto2";
package apollo.canbus;
import "modules/common_msgs/basic_msgs/drive_state.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/vehicle_id.proto";
import "modules/common_msgs/basic_msgs/vehicle_signal.proto";
// next id :31
message Chassis {
enum DrivingMode {
COMPLETE_MANUAL = 0; // human drive
COMPLETE_AUTO_DRIVE = 1;
AUTO_STEER_ONLY = 2; // only steer
AUTO_SPEED_ONLY = 3; // include throttle and brake
// security mode when manual intervention happens, only response status
EMERGENCY_MODE = 4;
}
enum ErrorCode {
NO_ERROR = 0;
CMD_NOT_IN_PERIOD = 1; // control cmd not in period
// car chassis report error, like steer, brake, throttle, gear fault
CHASSIS_ERROR = 2;
// classify the types of the car chassis errors
CHASSIS_ERROR_ON_STEER = 6;
CHASSIS_ERROR_ON_BRAKE = 7;
CHASSIS_ERROR_ON_THROTTLE = 8;
CHASSIS_ERROR_ON_GEAR = 9;
MANUAL_INTERVENTION = 3; // human manual intervention
// receive car chassis can frame not in period
CHASSIS_CAN_NOT_IN_PERIOD = 4;
UNKNOWN_ERROR = 5;
}
enum GearPosition {
GEAR_NEUTRAL = 0;
GEAR_DRIVE = 1;
GEAR_REVERSE = 2;
GEAR_PARKING = 3;
GEAR_LOW = 4;
GEAR_INVALID = 5;
GEAR_NONE = 6;
}
enum BumperEvent {
BUMPER_INVALID = 0;
BUMPER_NORMAL = 1;
BUMPER_PRESSED = 2;
}
optional bool engine_started = 3;
// Engine speed in RPM.
optional float engine_rpm = 4 [default = nan];
// Vehicle Speed in meters per second.
optional float speed_mps = 5 [default = nan];
// Vehicle odometer in meters.
optional float odometer_m = 6 [default = nan];
// Fuel range in meters.
optional int32 fuel_range_m = 7;
// Real throttle location in [%], ranging from 0 to 100.
optional float throttle_percentage = 8 [default = nan];
// Real brake location in [%], ranging from 0 to 100.
optional float brake_percentage = 9 [default = nan];
// Real steering location in [%], ranging from -100 to 100.
// steering_angle / max_steering_angle
// Clockwise: negative
// CountClockwise: positive
optional float steering_percentage = 11 [default = nan];
// Applied steering torque in [Nm].
optional float steering_torque_nm = 12 [default = nan];
// Parking brake status.
optional bool parking_brake = 13;
// Light signals.
optional bool high_beam_signal = 14 [deprecated = true];
optional bool low_beam_signal = 15 [deprecated = true];
optional bool left_turn_signal = 16 [deprecated = true];
optional bool right_turn_signal = 17 [deprecated = true];
optional bool horn = 18 [deprecated = true];
optional bool wiper = 19;
optional bool disengage_status = 20 [deprecated = true];
optional DrivingMode driving_mode = 21 [default = COMPLETE_MANUAL];
optional ErrorCode error_code = 22 [default = NO_ERROR];
optional GearPosition gear_location = 23;
// timestamp for steering module
optional double steering_timestamp = 24; // In seconds, with 1e-6 accuracy
// chassis also needs it own sending timestamp
optional apollo.common.Header header = 25;
optional int32 chassis_error_mask = 26 [default = 0];
optional apollo.common.VehicleSignal signal = 27;
// Only available for Lincoln now
optional ChassisGPS chassis_gps = 28;
optional apollo.common.EngageAdvice engage_advice = 29;
optional WheelSpeed wheel_speed = 30;
optional Surround surround = 31;
// Vehicle registration information
optional License license = 32 [deprecated = true];
// Real gear location.
// optional int32 gear_location = 10 [deprecated = true]; deprecated use enum
// replace this [id 23]
optional apollo.common.VehicleID vehicle_id = 33;
optional int32 battery_soc_percentage = 34 [default = -1];
// Real send throttle location in [%], ranging from 0 to 100.
optional float throttle_percentage_cmd = 35 [default = nan];
// Real send brake location in [%], ranging from 0 to 100.
optional float brake_percentage_cmd = 36 [default = nan];
// Real send steering location in [%], ranging from -100 to 100.
// steering_angle / max_steering_angle
// Clockwise: negative
// CountClockwise: positive
optional float steering_percentage_cmd = 37 [default = nan];
optional BumperEvent front_bumper_event = 38;
optional BumperEvent back_bumper_event = 39;
optional CheckResponse check_response = 40;
}
message ChassisGPS {
optional double latitude = 1;
optional double longitude = 2;
optional bool gps_valid = 3;
optional int32 year = 4;
optional int32 month = 5;
optional int32 day = 6;
optional int32 hours = 7;
optional int32 minutes = 8;
optional int32 seconds = 9;
optional double compass_direction = 10;
optional double pdop = 11;
optional bool is_gps_fault = 12;
optional bool is_inferred = 13;
optional double altitude = 14;
optional double heading = 15;
optional double hdop = 16;
optional double vdop = 17;
optional GpsQuality quality = 18;
optional int32 num_satellites = 19;
optional double gps_speed = 20;
}
enum GpsQuality {
FIX_NO = 0;
FIX_2D = 1;
FIX_3D = 2;
FIX_INVALID = 3;
}
message WheelSpeed {
enum WheelSpeedType {
FORWARD = 0;
BACKWARD = 1;
STANDSTILL = 2;
INVALID = 3;
}
optional bool is_wheel_spd_rr_valid = 1 [default = false];
optional WheelSpeedType wheel_direction_rr = 2 [default = INVALID];
optional double wheel_spd_rr = 3 [default = 0.0];
optional bool is_wheel_spd_rl_valid = 4 [default = false];
optional WheelSpeedType wheel_direction_rl = 5 [default = INVALID];
optional double wheel_spd_rl = 6 [default = 0.0];
optional bool is_wheel_spd_fr_valid = 7 [default = false];
optional WheelSpeedType wheel_direction_fr = 8 [default = INVALID];
optional double wheel_spd_fr = 9 [default = 0.0];
optional bool is_wheel_spd_fl_valid = 10 [default = false];
optional WheelSpeedType wheel_direction_fl = 11 [default = INVALID];
optional double wheel_spd_fl = 12 [default = 0.0];
}
message Sonar {
optional double range = 1; // Meter
optional apollo.common.Point3D translation = 2; // Meter
optional apollo.common.Quaternion rotation = 3;
}
message Surround {
optional bool cross_traffic_alert_left = 1;
optional bool cross_traffic_alert_left_enabled = 2;
optional bool blind_spot_left_alert = 3;
optional bool blind_spot_left_alert_enabled = 4;
optional bool cross_traffic_alert_right = 5;
optional bool cross_traffic_alert_right_enabled = 6;
optional bool blind_spot_right_alert = 7;
optional bool blind_spot_right_alert_enabled = 8;
optional double sonar00 = 9;
optional double sonar01 = 10;
optional double sonar02 = 11;
optional double sonar03 = 12;
optional double sonar04 = 13;
optional double sonar05 = 14;
optional double sonar06 = 15;
optional double sonar07 = 16;
optional double sonar08 = 17;
optional double sonar09 = 18;
optional double sonar10 = 19;
optional double sonar11 = 20;
optional bool sonar_enabled = 21;
optional bool sonar_fault = 22;
repeated double sonar_range = 23;
repeated Sonar sonar = 24;
}
message License {
optional string vin = 1 [deprecated = true];
}
// CheckResponseSignal
message CheckResponse {
optional bool is_eps_online = 1 [default = false];
optional bool is_epb_online = 2 [default = false];
optional bool is_esp_online = 3 [default = false];
optional bool is_vtog_online = 4 [default = false];
optional bool is_scu_online = 5 [default = false];
optional bool is_switch_online = 6 [default = false];
optional bool is_vcu_online = 7 [default = false];
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/chassis_msgs/chassis_detail.proto
|
syntax = "proto2";
package apollo.canbus;
import "modules/common_msgs/basic_msgs/vehicle_id.proto";
import "modules/common_msgs/chassis_msgs/chassis.proto";
message ChassisDetail {
enum Type {
QIRUI_EQ_15 = 0;
CHANGAN_RUICHENG = 1;
}
optional Type car_type = 1; // car type
optional BasicInfo basic = 2; // basic info
optional Safety safety = 3; // safety
optional Gear gear = 4; // gear
optional Ems ems = 5; // engine manager system
optional Esp esp = 6; // Electronic Stability Program
optional Gas gas = 7; // gas pedal
optional Epb epb = 8; // Electronic parking brake
optional Brake brake = 9; // brake pedal
optional Deceleration deceleration = 10; // deceleration
optional VehicleSpd vehicle_spd = 11; // vehicle speed
optional Eps eps = 12; // Electronic Power Steering
optional Light light = 13; // Light
optional Battery battery = 14; // Battery info
optional CheckResponseSignal check_response = 15;
optional License license = 16 [deprecated = true]; // License info
optional Surround surround = 17; // Surround information
// Reserve fields for other vehicles
optional apollo.common.VehicleID vehicle_id = 101;
}
// CheckResponseSignal
message CheckResponseSignal {
optional bool is_eps_online = 1 [default = false]; // byd:0x34C qirui:0x505
optional bool is_epb_online = 2 [default = false]; // byd:0x218
optional bool is_esp_online = 3 [default = false]; // byd:0x122 qirui:0x451
optional bool is_vtog_online = 4 [default = false]; // byd:0x242
optional bool is_scu_online = 5 [default = false]; // byd:0x35C
optional bool is_switch_online = 6 [default = false]; // byd:0x133
optional bool is_vcu_online = 7 [default = false]; // qirui:0x400
}
// Battery
message Battery {
optional double battery_percent = 1; // unit:%, battery percentage left
// lincoln fuellevel 72
optional double fuel_level = 2;
}
// light
message Light {
enum TurnLightType {
TURN_LIGHT_OFF = 0;
TURN_LEFT_ON = 1;
TURN_RIGHT_ON = 2;
TURN_LIGHT_ON = 3;
}
enum BeamLampType {
BEAM_OFF = 0;
HIGH_BEAM_ON = 1;
LOW_BEAM_ON = 2;
}
enum LincolnLampType {
BEAM_NULL = 0;
BEAM_FLASH_TO_PASS = 1;
BEAM_HIGH = 2;
BEAM_INVALID = 3;
}
enum LincolnWiperType {
WIPER_OFF = 0;
WIPER_AUTO_OFF = 1;
WIPER_OFF_MOVING = 2;
WIPER_MANUAL_OFF = 3;
WIPER_MANUAL_ON = 4;
WIPER_MANUAL_LOW = 5;
WIPER_MANUAL_HIGH = 6;
WIPER_MIST_FLICK = 7;
WIPER_WASH = 8;
WIPER_AUTO_LOW = 9;
WIPER_AUTO_HIGH = 10;
WIPER_COURTESY_WIPE = 11;
WIPER_AUTO_ADJUST = 12;
WIPER_RESERVED = 13;
WIPER_STALLED = 14;
WIPER_NO_DATA = 15;
}
enum LincolnAmbientType {
AMBIENT_DARK = 0;
AMBIENT_LIGHT = 1;
AMBIENT_TWILIGHT = 2;
AMBIENT_TUNNEL_ON = 3;
AMBIENT_TUNNEL_OFF = 4;
AMBIENT_INVALID = 5;
AMBIENT_NO_DATA = 7;
}
optional TurnLightType turn_light_type = 1;
optional BeamLampType beam_lamp_type = 2;
optional bool is_brake_lamp_on = 3;
// byd switch 133
optional bool is_auto_light = 4;
optional int32 wiper_gear = 5;
optional int32 lotion_gear = 6;
optional bool is_horn_on = 7;
// lincoln misc 69
optional LincolnLampType lincoln_lamp_type = 8;
optional LincolnWiperType lincoln_wiper = 9;
optional LincolnAmbientType lincoln_ambient = 10;
}
// Electrical Power Steering
message Eps {
enum Type {
NOT_AVAILABLE = 0;
READY = 1;
ACTIVE = 2;
INVALID = 3;
}
// changan: eps 2a0
optional bool is_eps_fail = 1;
// eps 2a0
optional Type eps_control_state = 2; // for changan to control steering
optional double eps_driver_hand_torq = 3; // unit:Nm
optional bool is_steering_angle_valid = 4;
optional double steering_angle = 5; // unit:degree
optional double steering_angle_spd = 6; // unit:degree/s
// byd sas 11f
optional bool is_trimming_status = 7;
optional bool is_calibration_status = 8;
optional bool is_failure_status = 9;
optional int32 allow_enter_autonomous_mode = 10;
optional int32 current_driving_mode = 11;
// lincoln steering 65
optional double steering_angle_cmd = 12;
optional double vehicle_speed = 13;
optional double epas_torque = 14;
optional bool steering_enabled = 15;
optional bool driver_override = 16;
optional bool driver_activity = 17;
optional bool watchdog_fault = 18;
optional bool channel_1_fault = 19;
optional bool channel_2_fault = 20;
optional bool calibration_fault = 21;
optional bool connector_fault = 22;
optional double timestamp_65 = 23;
// lincoln version 7f
optional int32 major_version = 24;
optional int32 minor_version = 25;
optional int32 build_number = 26;
}
message VehicleSpd {
// esp 277
optional bool is_vehicle_standstill = 1;
// esp 218
optional bool is_vehicle_spd_valid = 2;
optional double vehicle_spd = 3 [default = 0]; // unit:m/s
// esp 208
optional bool is_wheel_spd_rr_valid = 4;
optional WheelSpeed.WheelSpeedType wheel_direction_rr = 5;
optional double wheel_spd_rr = 6;
optional bool is_wheel_spd_rl_valid = 7;
optional WheelSpeed.WheelSpeedType wheel_direction_rl = 8;
optional double wheel_spd_rl = 9;
optional bool is_wheel_spd_fr_valid = 10;
optional WheelSpeed.WheelSpeedType wheel_direction_fr = 11;
optional double wheel_spd_fr = 12;
optional bool is_wheel_spd_fl_valid = 13;
optional WheelSpeed.WheelSpeedType wheel_direction_fl = 14;
optional double wheel_spd_fl = 15;
// byd esp 222
optional bool is_yaw_rate_valid = 16;
optional double yaw_rate = 17;
optional double yaw_rate_offset = 18;
// byd esp 223
optional bool is_ax_valid = 19;
optional double ax = 20;
optional double ax_offset = 21;
optional bool is_ay_valid = 22;
optional double ay = 23;
optional double ay_offset = 24;
// lincoln accel 6b
optional double lat_acc = 25;
optional double long_acc = 26;
optional double vert_acc = 27;
// lincoln gyro 6c
optional double roll_rate = 28;
// lincoln brakeinfo 74
optional double acc_est = 29;
// lincoln wheelspeed 6a
optional double timestamp_sec = 30;
}
message Deceleration {
// esp 277
optional bool is_deceleration_available =
1; // for changan to send deceleration value
optional bool is_deceleration_active =
2; // for changan to send deceleration value
optional double deceleration = 3 [default = 0];
optional double is_evb_fail = 4;
optional double evb_pressure = 5 [default = 0]; // mpa, 0~25.5
optional double brake_pressure = 6 [default = 0];
optional double brake_pressure_spd = 7 [default = 0];
}
message Brake {
enum HSAStatusType {
HSA_INACTIVE = 0;
HSA_FINDING_GRADIENT = 1;
HSA_ACTIVE_PRESSED = 2;
HSA_ACTIVE_RELEASED = 3;
HSA_FAST_RELEASE = 4;
HSA_SLOW_RELEASE = 5;
HSA_FAILED = 6;
HSA_UNDEFINED = 7;
}
enum HSAModeType {
HSA_OFF = 0;
HSA_AUTO = 1;
HSA_MANUAL = 2;
HSA_MODE_UNDEFINED = 3;
}
// ems 255
optional bool is_brake_pedal_pressed = 1
[default = false]; // only manual brake
// esp 277
optional bool is_brake_force_exist =
2; // no matter auto mode brake or manual brake
optional bool is_brake_over_heat = 3;
optional bool is_hand_brake_on = 4; // hand brake
optional double brake_pedal_position = 5;
// byd vtog 342
optional bool is_brake_valid = 6;
// lincoln brake 61
optional double brake_input = 7;
optional double brake_cmd = 8;
optional double brake_output = 9;
optional bool boo_input = 10;
optional bool boo_cmd = 11;
optional bool boo_output = 12;
optional bool watchdog_applying_brakes = 13;
optional int32 watchdog_source = 14;
optional bool brake_enabled = 15;
optional bool driver_override = 16;
optional bool driver_activity = 17;
optional bool watchdog_fault = 18;
optional bool channel_1_fault = 19;
optional bool channel_2_fault = 20;
optional bool boo_fault = 21;
optional bool connector_fault = 22;
// lincoln brakeinfo 74
optional double brake_torque_req = 23;
optional HSAStatusType hsa_status = 24;
optional double brake_torque_act = 25;
optional HSAModeType hsa_mode = 26;
optional double wheel_torque_act = 27;
// lincoln version 7f
optional int32 major_version = 28;
optional int32 minor_version = 29;
optional int32 build_number = 30;
}
// Electrical Parking Brake
message Epb {
enum PBrakeType {
PBRAKE_OFF = 0;
PBRAKE_TRANSITION = 1;
PBRAKE_ON = 2;
PBRAKE_FAULT = 3;
}
// epb 256
optional bool is_epb_error = 1;
optional bool is_epb_released = 2;
// byd epb 218
optional int32 epb_status = 3;
// lincoln brakeinfo 74
optional PBrakeType parking_brake_status = 4;
}
message Gas {
// ems 255
optional bool is_gas_pedal_error = 1;
// ems 26a
optional bool is_gas_pedal_pressed_more = 2; // more than auto mode gas torq
optional double gas_pedal_position = 3 [default = 0]; // manual gas
// byd vtog 342
optional bool is_gas_valid = 4 [default = false];
// lincoln throttle 63
optional double throttle_input = 5;
optional double throttle_cmd = 6;
optional double throttle_output = 7;
optional int32 watchdog_source = 8;
optional bool throttle_enabled = 9;
optional bool driver_override = 10;
optional bool driver_activity = 11;
optional bool watchdog_fault = 12;
optional bool channel_1_fault = 13;
optional bool channel_2_fault = 14;
optional bool connector_fault = 15;
// lincoln throttleinfo 75
optional double accelerator_pedal = 16;
optional double accelerator_pedal_rate = 17;
// lincoln version 7f
optional int32 major_version = 18;
optional int32 minor_version = 19;
optional int32 build_number = 20;
}
// Electronic Stability Program
message Esp {
// esp 277
optional bool is_esp_acc_error = 1; // for changan to control car
// esp 218
optional bool is_esp_on = 2;
optional bool is_esp_active = 3;
optional bool is_abs_error = 4;
optional bool is_abs_active = 5;
optional bool is_tcsvdc_fail = 6;
// lincoln brakeinfo 74
optional bool is_abs_enabled = 7;
optional bool is_stab_active = 8;
optional bool is_stab_enabled = 9;
optional bool is_trac_active = 10;
optional bool is_trac_enabled = 11;
}
// Engine Manager System
message Ems {
enum Type {
STOP = 0;
CRANK = 1;
RUNNING = 2;
INVALID = 3;
}
// ems 26a
optional bool is_engine_acc_available = 1; // for changan to control car
optional bool is_engine_acc_error = 2; // for changan to control car
// ems 265
optional Type engine_state = 3;
optional double max_engine_torq_percent =
4; // for engine torq control, unit:%
optional double min_engine_torq_percent =
5; // for engine torq control, unit:%
optional int32 base_engine_torq_constant =
6; // for engine torq control, unit:Nm
// ems 255
optional bool is_engine_speed_error = 7;
optional double engine_speed = 8;
// byd vtog 241
optional int32 engine_torque = 9;
// byd vtog 242
optional bool is_over_engine_torque = 10;
// lincoln mkz throttleinfo 75
optional double engine_rpm = 11;
}
message Gear {
// tcu 268
optional bool is_shift_position_valid = 1;
// chanan: tcu 268
optional Chassis.GearPosition gear_state = 2;
// lincoln gear 67
optional bool driver_override = 3;
optional Chassis.GearPosition gear_cmd = 4;
optional bool canbus_fault = 5;
}
message Safety {
// ip 270
optional bool is_driver_car_door_close = 1;
// sas 50
optional bool is_driver_buckled = 2;
// byd sws 4a8
optional int32 emergency_button = 3;
// qirui:403
// when car chassis error, like system fault, or warning report
optional bool has_error = 4 [default = false];
optional bool is_motor_invertor_fault = 5;
optional bool is_system_fault = 6;
optional bool is_power_battery_fault = 7;
optional bool is_motor_invertor_over_temperature = 8;
optional bool is_small_battery_charge_discharge_fault = 9;
optional int32 driving_mode = 10;
// lincoln misc 69
optional bool is_passenger_door_open = 11;
optional bool is_rearleft_door_open = 12;
optional bool is_rearright_door_open = 13;
optional bool is_hood_open = 14;
optional bool is_trunk_open = 15;
optional bool is_passenger_detected = 16;
optional bool is_passenger_airbag_enabled = 17;
optional bool is_passenger_buckled = 18;
// lincoln tirepressure 71
optional int32 front_left_tire_press = 19;
optional int32 front_right_tire_press = 20;
optional int32 rear_left_tire_press = 21;
optional int32 rear_right_tire_press = 22;
optional Chassis.DrivingMode car_driving_mode = 23;
}
message BasicInfo {
enum Type {
OFF = 0;
ACC = 1;
ON = 2;
START = 3;
INVALID = 4;
}
optional bool is_auto_mode = 1;
optional Type power_state = 2;
optional bool is_air_bag_deployed = 3;
optional double odo_meter = 4; // odo meter, unit:km
optional double drive_range =
5; // the meter left when drive continuously, unit:km
optional bool is_system_error = 6;
optional bool is_human_interrupt = 7; // human interrupt
// lincoln misc 69
optional bool acc_on_button = 8; // acc on button pressed
optional bool acc_off_button = 9;
optional bool acc_res_button = 10;
optional bool acc_cancel_button = 11;
optional bool acc_on_off_button = 12;
optional bool acc_res_cancel_button = 13;
optional bool acc_inc_spd_button = 14;
optional bool acc_dec_spd_button = 15;
optional bool acc_inc_gap_button = 16;
optional bool acc_dec_gap_button = 17;
optional bool lka_button = 18;
optional bool canbus_fault = 19;
// lincoln gps 6d
optional double latitude = 20;
optional double longitude = 21;
optional bool gps_valid = 22;
// lincoln gps 6e
optional int32 year = 23;
optional int32 month = 24;
optional int32 day = 25;
optional int32 hours = 26;
optional int32 minutes = 27;
optional int32 seconds = 28;
optional double compass_direction = 29;
optional double pdop = 30;
optional bool is_gps_fault = 31;
optional bool is_inferred = 32;
// lincoln gps 6f
optional double altitude = 33;
optional double heading = 34;
optional double hdop = 35;
optional double vdop = 36;
optional GpsQuality quality = 37;
optional int32 num_satellites = 38;
optional double gps_speed = 39;
}
// Gem vehicle starts from here
// TODO(QiL) : Re-factor needed here
message Global_rpt_6a {
// Report Message
enum Pacmod_statusType {
PACMOD_STATUS_CONTROL_DISABLED = 0;
PACMOD_STATUS_CONTROL_ENABLED = 1;
}
enum Override_statusType {
OVERRIDE_STATUS_NOT_OVERRIDDEN = 0;
OVERRIDE_STATUS_OVERRIDDEN = 1;
}
enum Brk_can_timeoutType {
BRK_CAN_TIMEOUT_NO_ACTIVE_CAN_TIMEOUT = 0;
BRK_CAN_TIMEOUT_ACTIVE_CAN_TIMEOUT = 1;
}
// [] [0|1]
optional Pacmod_statusType pacmod_status = 1;
// [] [0|1]
optional Override_statusType override_status = 2;
// [] [0|1]
optional bool veh_can_timeout = 3;
// [] [0|1]
optional bool str_can_timeout = 4;
// [] [0|1]
optional Brk_can_timeoutType brk_can_timeout = 5;
// [] [0|1]
optional bool usr_can_timeout = 6;
// [] [0|65535]
optional int32 usr_can_read_errors = 7;
}
message Brake_cmd_6b {
// Report Message
// [%] [0|1]
optional double brake_cmd = 1;
}
message Brake_rpt_6c {
// Report Message
enum Brake_on_offType {
BRAKE_ON_OFF_OFF = 0;
BRAKE_ON_OFF_ON = 1;
}
// [%] [0|1]
optional double manual_input = 1;
// [%] [0|1]
optional double commanded_value = 2;
// [%] [0|1]
optional double output_value = 3;
// [] [0|1]
optional Brake_on_offType brake_on_off = 4;
}
message Steering_cmd_6d {
// Report Message
// [radians] [-2147483.648|2147483.647]
optional double position_value = 1;
// [rad/s] [0|65.535]
optional double speed_limit = 2;
}
message Steering_rpt_1_6e {
// Report Message
// [rad/s] [-32.768|32.767]
optional double manual_input = 1;
// [rad/s] [-32.768|32.767]
optional double commanded_value = 2;
// [rad/s] [-32.768|32.767]
optional double output_value = 3;
}
message Wheel_speed_rpt_7a {
// Report Message
// [rad/s] [-32768|32767]
optional int32 wheel_spd_rear_right = 1;
// [rad/s] [-32768|32767]
optional int32 wheel_spd_rear_left = 2;
// [rad/s] [-32768|32767]
optional int32 wheel_spd_front_right = 3;
// [rad/s] [-32768|32767]
optional int32 wheel_spd_front_left = 4;
}
message Date_time_rpt_83 {
// Report Message
// [sec] [0|60]
optional int32 time_second = 1;
// [min] [0|60]
optional int32 time_minute = 2;
// [hr] [0|23]
optional int32 time_hour = 3;
// [dy] [1|31]
optional int32 date_day = 4;
// [mon] [1|12]
optional int32 date_month = 5;
// [yr] [2000|2255]
optional int32 date_year = 6;
}
message Brake_motor_rpt_1_70 {
// Report Message
// [amps] [0|4294967.295]
optional double motor_current = 1;
// [radians] [-2147483.648|2147483.647]
optional double shaft_position = 2;
}
message Headlight_rpt_77 {
// Report Message
enum Output_valueType {
OUTPUT_VALUE_HEADLIGHTS_OFF = 0;
OUTPUT_VALUE_LOW_BEAMS = 1;
OUTPUT_VALUE_HIGH_BEAMS = 2;
}
enum Manual_inputType {
MANUAL_INPUT_HEADLIGHTS_OFF = 0;
MANUAL_INPUT_LOW_BEAMS = 1;
MANUAL_INPUT_HIGH_BEAMS = 2;
}
enum Commanded_valueType {
COMMANDED_VALUE_HEADLIGHTS_OFF = 0;
COMMANDED_VALUE_LOW_BEAMS = 1;
COMMANDED_VALUE_HIGH_BEAMS = 2;
}
// [] [0|2]
optional Output_valueType output_value = 1;
// [] [0|2]
optional Manual_inputType manual_input = 2;
// [] [0|2]
optional Commanded_valueType commanded_value = 3;
}
message Accel_rpt_68 {
// Report Message
// [%] [0|1]
optional double manual_input = 1;
// [%] [0|1]
optional double commanded_value = 2;
// [%] [0|1]
optional double output_value = 3;
}
message Steering_motor_rpt_3_75 {
// Report Message
// [N-m] [-2147483.648|2147483.647]
optional double torque_output = 1;
// [N-m] [-2147483.648|2147483.647]
optional double torque_input = 2;
}
message Turn_cmd_63 {
// Report Message
enum Turn_signal_cmdType {
TURN_SIGNAL_CMD_RIGHT = 0;
TURN_SIGNAL_CMD_NONE = 1;
TURN_SIGNAL_CMD_LEFT = 2;
TURN_SIGNAL_CMD_HAZARD = 3;
}
// [] [0|3]
optional Turn_signal_cmdType turn_signal_cmd = 1;
}
message Turn_rpt_64 {
// Report Message
enum Manual_inputType {
MANUAL_INPUT_RIGHT = 0;
MANUAL_INPUT_NONE = 1;
MANUAL_INPUT_LEFT = 2;
MANUAL_INPUT_HAZARD = 3;
}
enum Commanded_valueType {
COMMANDED_VALUE_RIGHT = 0;
COMMANDED_VALUE_NONE = 1;
COMMANDED_VALUE_LEFT = 2;
COMMANDED_VALUE_HAZARD = 3;
}
enum Output_valueType {
OUTPUT_VALUE_RIGHT = 0;
OUTPUT_VALUE_NONE = 1;
OUTPUT_VALUE_LEFT = 2;
OUTPUT_VALUE_HAZARD = 3;
}
// [] [0|3]
optional Manual_inputType manual_input = 1;
// [] [0|3]
optional Commanded_valueType commanded_value = 2;
// [] [0|3]
optional Output_valueType output_value = 3;
}
message Shift_cmd_65 {
// Report Message
enum Shift_cmdType {
SHIFT_CMD_PARK = 0;
SHIFT_CMD_REVERSE = 1;
SHIFT_CMD_NEUTRAL = 2;
SHIFT_CMD_FORWARD = 3;
SHIFT_CMD_LOW = 4;
}
// FORWARD_is_also_LOW_on_vehicles_with_LOW/HIGH,_PARK_and_HIGH_only_available_on_certain_Vehicles
// [] [0|4]
optional Shift_cmdType shift_cmd = 1;
}
message Shift_rpt_66 {
// Report Message
enum Manual_inputType {
MANUAL_INPUT_PARK = 0;
MANUAL_INPUT_REVERSE = 1;
MANUAL_INPUT_NEUTRAL = 2;
MANUAL_INPUT_FORWARD = 3;
MANUAL_INPUT_HIGH = 4;
}
enum Commanded_valueType {
COMMANDED_VALUE_PARK = 0;
COMMANDED_VALUE_REVERSE = 1;
COMMANDED_VALUE_NEUTRAL = 2;
COMMANDED_VALUE_FORWARD = 3;
COMMANDED_VALUE_HIGH = 4;
}
enum Output_valueType {
OUTPUT_VALUE_PARK = 0;
OUTPUT_VALUE_REVERSE = 1;
OUTPUT_VALUE_NEUTRAL = 2;
OUTPUT_VALUE_FORWARD = 3;
OUTPUT_VALUE_HIGH = 4;
}
// [] [0|4]
optional Manual_inputType manual_input = 1;
// [] [0|4]
optional Commanded_valueType commanded_value = 2;
// [] [0|4]
optional Output_valueType output_value = 3;
}
message Accel_cmd_67 {
// Report Message
// [%] [0|1]
optional double accel_cmd = 1;
}
message Lat_lon_heading_rpt_82 {
// Report Message
// [deg] [-327.68|327.67]
optional double heading = 1;
// [sec] [-128|127]
optional int32 longitude_seconds = 2;
// [min] [-128|127]
optional int32 longitude_minutes = 3;
// [deg] [-128|127]
optional int32 longitude_degrees = 4;
// [sec] [-128|127]
optional int32 latitude_seconds = 5;
// [min] [-128|127]
optional int32 latitude_minutes = 6;
// [deg] [-128|127]
optional int32 latitude_degrees = 7;
}
message Global_cmd_69 {
// Report Message
enum Pacmod_enableType {
PACMOD_ENABLE_CONTROL_DISABLED = 0;
PACMOD_ENABLE_CONTROL_ENABLED = 1;
}
enum Clear_overrideType {
CLEAR_OVERRIDE_DON_T_CLEAR_ACTIVE_OVERRIDES = 0;
CLEAR_OVERRIDE_CLEAR_ACTIVE_OVERRIDES = 1;
}
enum Ignore_overrideType {
IGNORE_OVERRIDE_DON_T_IGNORE_USER_OVERRIDES = 0;
IGNORE_OVERRIDE_IGNORE_USER_OVERRIDES = 1;
}
// [] [0|1]
optional Pacmod_enableType pacmod_enable = 1;
// [] [0|1]
optional Clear_overrideType clear_override = 2;
// [] [0|1]
optional Ignore_overrideType ignore_override = 3;
}
message Parking_brake_status_rpt_80 {
// Report Message
enum Parking_brake_enabledType {
PARKING_BRAKE_ENABLED_OFF = 0;
PARKING_BRAKE_ENABLED_ON = 1;
}
// [] [0|1]
optional Parking_brake_enabledType parking_brake_enabled = 1;
}
message Yaw_rate_rpt_81 {
// Report Message
// [rad/s] [-327.68|327.67]
optional double yaw_rate = 1;
}
message Horn_rpt_79 {
// Report Message
enum Output_valueType {
OUTPUT_VALUE_OFF = 0;
OUTPUT_VALUE_ON = 1;
}
enum Commanded_valueType {
COMMANDED_VALUE_OFF = 0;
COMMANDED_VALUE_ON = 1;
}
enum Manual_inputType {
MANUAL_INPUT_OFF = 0;
MANUAL_INPUT_ON = 1;
}
// [] [0|1]
optional Output_valueType output_value = 1;
// [] [0|1]
optional Commanded_valueType commanded_value = 2;
// [] [0|1]
optional Manual_inputType manual_input = 3;
}
message Horn_cmd_78 {
// Report Message
enum Horn_cmdType {
HORN_CMD_OFF = 0;
HORN_CMD_ON = 1;
}
// [] [0|1]
optional Horn_cmdType horn_cmd = 1;
}
message Wiper_rpt_91 {
// Report Message
enum Output_valueType {
OUTPUT_VALUE_WIPERS_OFF = 0;
OUTPUT_VALUE_INTERMITTENT_1 = 1;
OUTPUT_VALUE_INTERMITTENT_2 = 2;
OUTPUT_VALUE_INTERMITTENT_3 = 3;
OUTPUT_VALUE_INTERMITTENT_4 = 4;
OUTPUT_VALUE_INTERMITTENT_5 = 5;
OUTPUT_VALUE_LOW = 6;
OUTPUT_VALUE_HIGH = 7;
}
enum Commanded_valueType {
COMMANDED_VALUE_WIPERS_OFF = 0;
COMMANDED_VALUE_INTERMITTENT_1 = 1;
COMMANDED_VALUE_INTERMITTENT_2 = 2;
COMMANDED_VALUE_INTERMITTENT_3 = 3;
COMMANDED_VALUE_INTERMITTENT_4 = 4;
COMMANDED_VALUE_INTERMITTENT_5 = 5;
COMMANDED_VALUE_LOW = 6;
COMMANDED_VALUE_HIGH = 7;
}
enum Manual_inputType {
MANUAL_INPUT_WIPERS_OFF = 0;
MANUAL_INPUT_INTERMITTENT_1 = 1;
MANUAL_INPUT_INTERMITTENT_2 = 2;
MANUAL_INPUT_INTERMITTENT_3 = 3;
MANUAL_INPUT_INTERMITTENT_4 = 4;
MANUAL_INPUT_INTERMITTENT_5 = 5;
MANUAL_INPUT_LOW = 6;
MANUAL_INPUT_HIGH = 7;
}
// [] [0|7]
optional Output_valueType output_value = 1;
// [] [0|7]
optional Commanded_valueType commanded_value = 2;
// [] [0|7]
optional Manual_inputType manual_input = 3;
}
message Vehicle_speed_rpt_6f {
// Report Message
enum Vehicle_speed_validType {
VEHICLE_SPEED_VALID_INVALID = 0;
VEHICLE_SPEED_VALID_VALID = 1;
}
// [m/s] [-327.68|327.67]
optional double vehicle_speed = 1;
// [] [0|1]
optional Vehicle_speed_validType vehicle_speed_valid = 2;
}
message Headlight_cmd_76 {
// Report Message
enum Headlight_cmdType {
HEADLIGHT_CMD_HEADLIGHTS_OFF = 0;
HEADLIGHT_CMD_LOW_BEAMS = 1;
HEADLIGHT_CMD_HIGH_BEAMS = 2;
}
// [] [0|2]
optional Headlight_cmdType headlight_cmd = 1;
}
message Steering_motor_rpt_2_74 {
// Report Message
// [deg C] [-32808|32727]
optional int32 encoder_temperature = 1;
// [deg C] [-32808|32727]
optional int32 motor_temperature = 2;
// [rev/s] [-2147483.648|2147483.647]
optional double angular_speed = 3;
}
message Brake_motor_rpt_2_71 {
// Report Message
// [deg C] [-32808|32727]
optional int32 encoder_temperature = 1;
// [deg C] [-32808|32727]
optional int32 motor_temperature = 2;
// [rev/s] [0|4294967.295]
optional double angular_speed = 3;
}
message Steering_motor_rpt_1_73 {
// Report Message
// [amps] [0|4294967.295]
optional double motor_current = 1;
// [amps] [-2147483.648|2147483.647]
optional double shaft_position = 2;
}
message Wiper_cmd_90 {
// Report Message
enum Wiper_cmdType {
WIPER_CMD_WIPERS_OFF = 0;
WIPER_CMD_INTERMITTENT_1 = 1;
WIPER_CMD_INTERMITTENT_2 = 2;
WIPER_CMD_INTERMITTENT_3 = 3;
WIPER_CMD_INTERMITTENT_4 = 4;
WIPER_CMD_INTERMITTENT_5 = 5;
WIPER_CMD_LOW = 6;
WIPER_CMD_HIGH = 7;
}
// [] [0|7]
optional Wiper_cmdType wiper_cmd = 1;
}
message Brake_motor_rpt_3_72 {
// Report Message
// [N-m] [-2147483.648|2147483.647]
optional double torque_output = 1;
// [N-m] [-2147483.648|2147483.647]
optional double torque_input = 2;
}
message Gem {
optional Global_rpt_6a global_rpt_6a = 1; // report message
optional Brake_cmd_6b brake_cmd_6b = 2; // report message
optional Brake_rpt_6c brake_rpt_6c = 3; // report message
optional Steering_cmd_6d steering_cmd_6d = 4; // report message
optional Steering_rpt_1_6e steering_rpt_1_6e = 5; // report message
optional Wheel_speed_rpt_7a wheel_speed_rpt_7a = 6; // report message
optional Date_time_rpt_83 date_time_rpt_83 = 7; // report message
optional Brake_motor_rpt_1_70 brake_motor_rpt_1_70 = 8; // report message
optional Headlight_rpt_77 headlight_rpt_77 = 9; // report message
optional Accel_rpt_68 accel_rpt_68 = 10; // report message
optional Steering_motor_rpt_3_75 steering_motor_rpt_3_75 =
11; // report message
optional Turn_cmd_63 turn_cmd_63 = 12; // report message
optional Turn_rpt_64 turn_rpt_64 = 13; // report message
optional Shift_cmd_65 shift_cmd_65 = 14; // report message
optional Shift_rpt_66 shift_rpt_66 = 15; // report message
optional Accel_cmd_67 accel_cmd_67 = 16; // report message
optional Lat_lon_heading_rpt_82 lat_lon_heading_rpt_82 =
17; // report message
optional Global_cmd_69 global_cmd_69 = 18; // report message
optional Parking_brake_status_rpt_80 parking_brake_status_rpt_80 =
19; // report message
optional Yaw_rate_rpt_81 yaw_rate_rpt_81 = 20; // report message
optional Horn_rpt_79 horn_rpt_79 = 21; // report message
optional Horn_cmd_78 horn_cmd_78 = 22; // report message
optional Wiper_rpt_91 wiper_rpt_91 = 23; // report message
optional Vehicle_speed_rpt_6f vehicle_speed_rpt_6f = 24; // report message
optional Headlight_cmd_76 headlight_cmd_76 = 25; // report message
optional Steering_motor_rpt_2_74 steering_motor_rpt_2_74 =
26; // report message
optional Brake_motor_rpt_2_71 brake_motor_rpt_2_71 = 27; // report message
optional Steering_motor_rpt_1_73 steering_motor_rpt_1_73 =
28; // report message
optional Wiper_cmd_90 wiper_cmd_90 = 29; // report message
optional Brake_motor_rpt_3_72 brake_motor_rpt_3_72 = 30; // report message
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/chassis_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "chassis_cc_proto",
deps = [
":chassis_proto",
],
)
proto_library(
name = "chassis_proto",
srcs = ["chassis.proto"],
deps = [
"//modules/common_msgs/basic_msgs:drive_state_proto",
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/basic_msgs:vehicle_id_proto",
"//modules/common_msgs/basic_msgs:vehicle_signal_proto",
],
)
py_proto_library(
name = "chassis_py_pb2",
deps = [
":chassis_proto",
"//modules/common_msgs/basic_msgs:drive_state_py_pb2",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/basic_msgs:vehicle_id_py_pb2",
"//modules/common_msgs/basic_msgs:vehicle_signal_py_pb2",
],
)
cc_proto_library(
name = "chassis_detail_cc_proto",
deps = [
":chassis_detail_proto",
],
)
proto_library(
name = "chassis_detail_proto",
srcs = ["chassis_detail.proto"],
deps = [
"//modules/common_msgs/basic_msgs:vehicle_id_proto",
":chassis_proto",
],
)
py_proto_library(
name = "chassis_detail_py_pb2",
deps = [
":chassis_detail_proto",
"//modules/common_msgs/basic_msgs:vehicle_id_py_pb2",
":chassis_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/localization_msgs/localization_status.proto
|
/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
syntax = "proto2";
package apollo.localization;
// LiDAR-based loclaization module status
enum LocalLidarStatus {
MSF_LOCAL_LIDAR_NORMAL = 0; // Localization result satisfy threshold
MSF_LOCAL_LIDAR_MAP_MISSING = 1; // Can't find localization map (config.xml)
MSF_LOCAL_LIDAR_EXTRINSICS_MISSING = 2; // Missing extrinsic parameters
MSF_LOCAL_LIDAR_MAP_LOADING_FAILED = 3; // Fail to load localization map
MSF_LOCAL_LIDAR_NO_OUTPUT =
4; // No output (comparing to timestamp of imu msg)
MSF_LOCAL_LIDAR_OUT_OF_MAP =
5; // Coverage of online pointcloud and map is lower than threshold
MSF_LOCAL_LIDAR_NOT_GOOD = 6; // Localization result do not meet threshold
MSF_LOCAL_LIDAR_UNDEFINED_STATUS = 7; // others
}
enum LocalLidarQuality {
MSF_LOCAL_LIDAR_VERY_GOOD = 0;
MSF_LOCAL_LIDAR_GOOD = 1;
MSF_LOCAL_LIDAR_NOT_BAD = 2;
MSF_LOCAL_LIDAR_BAD = 3;
}
// LiDAR-based localization result check (the difference between lidar and sins
// result)
enum LocalLidarConsistency {
MSF_LOCAL_LIDAR_CONSISTENCY_00 =
0; // The difference is less than threshold 1
MSF_LOCAL_LIDAR_CONSISTENCY_01 =
1; // The difference is bigger than threshold 1 but less than threshold 2
MSF_LOCAL_LIDAR_CONSISTENCY_02 =
2; // The difference is bigger than threshold 2
MSF_LOCAL_LIDAR_CONSISTENCY_03 = 3; // others
}
// GNSS-based localization result check (the difference between GNSS and sins
// result)
enum GnssConsistency {
MSF_GNSS_CONSISTENCY_00 = 0; // The difference is less than threshold 1
MSF_GNSS_CONSISTENCY_01 =
1; // The difference is bigger than threshold 1 but less than threshold 2
MSF_GNSS_CONSISTENCY_02 = 2; // The difference is bigger than threshold 2
MSF_GNSS_CONSISTENCY_03 = 3; // others
}
enum GnssPositionType {
NONE = 0; // No solution
FIXEDPOS = 1; // Position has been fixed by the FIX POSITION command or by
// position averaging
FIXEDHEIGHT = 2; // Position has been fixed by the FIX HEIGHT, or FIX AUTO,
// command or by position averaging
FLOATCONV = 4; // Solution from floating point carrier phase anbiguities
WIDELANE = 5; // Solution from wide-lane ambiguities
NARROWLANE = 6; // Solution from narrow-lane ambiguities
DOPPLER_VELOCITY = 8; // Velocity computed using instantaneous Doppler
SINGLE = 16; // Single point position
PSRDIFF = 17; // Pseudorange differential solution
WAAS = 18; // Solution calculated using corrections from an SBAS
PROPOGATED = 19; // Propagated by a Kalman filter without new observations
OMNISTAR = 20; // OmniSTAR VBS position
L1_FLOAT = 32; // Floating L1 albiguity solution
IONOFREE_FLOAT = 33; // Floating ionospheric free ambiguity solution
NARROW_FLOAT = 34; // Floating narrow-lane anbiguity solution
L1_INT = 48; // Integer L1 ambiguity solution
WIDE_INT = 49; // Integer wide-lane ambiguity solution
NARROW_INT = 50; // Integer narrow-lane ambiguity solution
RTK_DIRECT_INS = 51; // RTK status where RTK filter is directly initialized
// from the INS filter
INS_SBAS = 52; // INS calculated position corrected for the antenna
INS_PSRSP =
53; // INS pseudorange single point solution - no DGPS corrections
INS_PSRDIFF = 54; // INS pseudorange differential solution
INS_RTKFLOAT = 55; // INS RTK float point ambiguities solution
INS_RTKFIXED = 56; // INS RTK fixed ambiguities solution
INS_OMNISTAR = 57; // INS OmniSTAR VBS solution
INS_OMNISTAR_HP = 58; // INS OmniSTAR high precision solution
INS_OMNISTAR_XP = 59; // INS OmniSTAR extra precision solution
OMNISTAR_HP = 64; // OmniSTAR high precision
OMNISTAR_XP = 65; // OmniSTAR extra precision
PPP_CONVERGING = 68; // Precise Point Position(PPP) solution converging
PPP = 69; // Precise Point Position(PPP)solution
INS_PPP_Converging = 73; // INS NovAtel CORRECT Precise Point Position(PPP)
// solution converging
INS_PPP = 74; // INS NovAtel CORRECT Precise Point Position(PPP) solution
MSG_LOSS = 91; // Gnss position message loss
}
// IMU msg status
enum ImuMsgDelayStatus {
IMU_DELAY_NORMAL = 0;
IMU_DELAY_1 = 1;
IMU_DELAY_2 = 2;
IMU_DELAY_3 = 3;
IMU_DELAY_ABNORMAL = 4;
}
enum ImuMsgMissingStatus {
IMU_MISSING_NORMAL = 0;
IMU_MISSING_1 = 1;
IMU_MISSING_2 = 2;
IMU_MISSING_3 = 3;
IMU_MISSING_4 = 4;
IMU_MISSING_5 = 5;
IMU_MISSING_ABNORMAL = 6;
}
enum ImuMsgDataStatus {
IMU_DATA_NORMAL = 0;
IMU_DATA_ABNORMAL = 1;
IMU_DATA_OTHER = 2;
}
// The running status of localization module
enum MsfRunningStatus {
MSF_SOL_LIDAR_GNSS = 0;
MSF_SOL_X_GNSS = 1;
MSF_SOL_LIDAR_X = 2;
MSF_SOL_LIDAR_XX = 3;
MSF_SOL_LIDAR_XXX = 4;
MSF_SOL_X_X = 5;
MSF_SOL_X_XX = 6;
MSF_SOL_X_XXX = 7;
MSF_SSOL_LIDAR_GNSS = 8;
MSF_SSOL_X_GNSS = 9;
MSF_SSOL_LIDAR_X = 10;
MSF_SSOL_LIDAR_XX = 11;
MSF_SSOL_LIDAR_XXX = 12;
MSF_SSOL_X_X = 13;
MSF_SSOL_X_XX = 14;
MSF_SSOL_X_XXX = 15;
MSF_NOSOL_LIDAR_GNSS = 16;
MSF_NOSOL_X_GNSS = 17;
MSF_NOSOL_LIDAR_X = 18;
MSF_NOSOL_LIDAR_XX = 19;
MSF_NOSOL_LIDAR_XXX = 20;
MSF_NOSOL_X_X = 21;
MSF_NOSOL_X_XX = 22;
MSF_NOSOL_X_XXX = 23;
MSF_RUNNING_INIT = 24;
}
// The status of sensor msg
message MsfSensorMsgStatus {
optional ImuMsgDelayStatus imu_delay_status = 1;
optional ImuMsgMissingStatus imu_missing_status = 2;
optional ImuMsgDataStatus imu_data_status = 3;
}
// The status of msf localization module
message MsfStatus {
optional LocalLidarConsistency local_lidar_consistency = 1;
optional GnssConsistency gnss_consistency = 2;
optional LocalLidarStatus local_lidar_status = 3;
optional LocalLidarQuality local_lidar_quality = 4;
optional GnssPositionType gnsspos_position_type = 5;
optional MsfRunningStatus msf_running_status = 6;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/localization_msgs/gps.proto
|
syntax = "proto2";
package apollo.localization;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/localization_msgs/pose.proto";
message Gps {
optional apollo.common.Header header = 1;
// Localization message: from GPS or localization
optional apollo.localization.Pose localization = 2;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/localization_msgs/localization.proto
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
syntax = "proto2";
package apollo.localization;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/localization_msgs/localization_status.proto";
import "modules/common_msgs/localization_msgs/pose.proto";
message Uncertainty {
// Standard deviation of position, east/north/up in meters.
optional apollo.common.Point3D position_std_dev = 1;
// Standard deviation of quaternion qx/qy/qz, unitless.
optional apollo.common.Point3D orientation_std_dev = 2;
// Standard deviation of linear velocity, east/north/up in meters per second.
optional apollo.common.Point3D linear_velocity_std_dev = 3;
// Standard deviation of linear acceleration, right/forward/up in meters per
// square second.
optional apollo.common.Point3D linear_acceleration_std_dev = 4;
// Standard deviation of angular velocity, right/forward/up in radians per
// second.
optional apollo.common.Point3D angular_velocity_std_dev = 5;
// TODO: Define covariance items when needed.
}
message LocalizationEstimate {
optional apollo.common.Header header = 1;
optional apollo.localization.Pose pose = 2;
optional Uncertainty uncertainty = 3;
// The time of pose measurement, seconds since 1970-1-1 (UNIX time).
optional double measurement_time = 4; // In seconds.
// Future trajectory actually driven by the drivers
repeated apollo.common.TrajectoryPoint trajectory_point = 5;
// msf status
optional MsfStatus msf_status = 6;
// msf quality
optional MsfSensorMsgStatus sensor_status = 7;
}
enum MeasureState {
OK = 0;
WARNNING = 1;
ERROR = 2;
CRITICAL_ERROR = 3;
FATAL_ERROR = 4;
}
message LocalizationStatus {
optional apollo.common.Header header = 1;
optional MeasureState fusion_status = 2;
optional MeasureState gnss_status = 3 [deprecated = true];
optional MeasureState lidar_status = 4 [deprecated = true];
// The time of pose measurement, seconds since 1970-1-1 (UNIX time).
optional double measurement_time = 5; // In seconds.
optional string state_message = 6;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/localization_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "localization_status_cc_proto",
deps = [
":localization_status_proto",
],
)
proto_library(
name = "localization_status_proto",
srcs = ["localization_status.proto"],
)
py_proto_library(
name = "localization_status_py_pb2",
deps = [
":localization_status_proto",
],
)
cc_proto_library(
name = "gps_cc_proto",
deps = [
":gps_proto",
],
)
proto_library(
name = "gps_proto",
srcs = ["gps.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
":pose_proto",
],
)
py_proto_library(
name = "gps_py_pb2",
deps = [
":gps_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
":pose_py_pb2",
],
)
cc_proto_library(
name = "localization_cc_proto",
deps = [
":localization_proto",
],
)
proto_library(
name = "localization_proto",
srcs = ["localization.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:pnc_point_proto",
":localization_status_proto",
":pose_proto",
],
)
py_proto_library(
name = "localization_py_pb2",
deps = [
":localization_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:pnc_point_py_pb2",
":localization_status_py_pb2",
":pose_py_pb2",
],
)
cc_proto_library(
name = "imu_cc_proto",
deps = [
":imu_proto",
],
)
proto_library(
name = "imu_proto",
srcs = ["imu.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
":pose_proto",
],
)
py_proto_library(
name = "imu_py_pb2",
deps = [
":imu_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
":pose_py_pb2",
],
)
cc_proto_library(
name = "pose_cc_proto",
deps = [
":pose_proto",
],
)
proto_library(
name = "pose_proto",
srcs = ["pose.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
],
)
py_proto_library(
name = "pose_py_pb2",
deps = [
":pose_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/localization_msgs/imu.proto
|
syntax = "proto2";
package apollo.localization;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/localization_msgs/pose.proto";
message CorrectedImu {
optional apollo.common.Header header = 1;
// Inertial Measurement Unit(IMU)
optional apollo.localization.Pose imu = 3;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/localization_msgs/pose.proto
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
syntax = "proto2";
package apollo.localization;
import "modules/common_msgs/basic_msgs/geometry.proto";
message Pose {
// Position of the vehicle reference point (VRP) in the map reference frame.
// The VRP is the center of rear axle.
optional apollo.common.PointENU position = 1;
// A quaternion that represents the rotation from the IMU coordinate
// (Right/Forward/Up) to the
// world coordinate (East/North/Up).
optional apollo.common.Quaternion orientation = 2;
// Linear velocity of the VRP in the map reference frame.
// East/north/up in meters per second.
optional apollo.common.Point3D linear_velocity = 3;
// Linear acceleration of the VRP in the map reference frame.
// East/north/up in meters per square second.
optional apollo.common.Point3D linear_acceleration = 4;
// Angular velocity of the vehicle in the map reference frame.
// Around east/north/up axes in radians per second.
optional apollo.common.Point3D angular_velocity = 5;
// Heading
// The heading is zero when the car is facing East and positive when facing
// North.
optional double heading = 6;
// Linear acceleration of the VRP in the vehicle reference frame.
// Right/forward/up in meters per square second.
optional apollo.common.Point3D linear_acceleration_vrf = 7;
// Angular velocity of the VRP in the vehicle reference frame.
// Around right/forward/up axes in radians per second.
optional apollo.common.Point3D angular_velocity_vrf = 8;
// Roll/pitch/yaw that represents a rotation with intrinsic sequence z-x-y.
// in world coordinate (East/North/Up)
// The roll, in (-pi/2, pi/2), corresponds to a rotation around the y-axis.
// The pitch, in [-pi, pi), corresponds to a rotation around the x-axis.
// The yaw, in [-pi, pi), corresponds to a rotation around the z-axis.
// The direction of rotation follows the right-hand rule.
optional apollo.common.Point3D euler_angles = 9;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/radar.proto
|
syntax = "proto2";
package apollo.drivers;
import "modules/common_msgs/basic_msgs/error_code.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
message RadarObstacle {
enum Status {
NO_TARGET = 0;
NEW_TARGET = 1;
NEW_UPDATED_TARGET = 2;
UPDATED_TARGET = 3;
COASTED_TARGET = 4;
MERGED_TARGET = 5;
INVALID_COASTED_TARGET = 6;
NEW_COASTED_TARGET = 7;
}
enum MovingStatus {
STATIONARY = 0;
NEARING = 1;
AWAYING = 2;
NONE = 3;
}
// obstacle ID.
optional int32 id = 1;
// obstacle position in the sl coordinate system.
optional apollo.common.Point2D relative_position = 2;
// obstacle relative velocity.
optional apollo.common.Point2D relative_velocity = 3;
// radar signal intensity.
optional double rcs = 4;
// whether this obstacle is able to move.
optional MovingStatus moving_status = 5;
optional double width = 6;
optional double length = 7;
optional double height = 8;
optional double theta = 9;
// obstacle position in map coordinate system
optional apollo.common.Point2D absolute_position = 10;
// obstacle position in map coordinate system
optional apollo.common.Point2D absolute_velocity = 11;
optional int32 count = 12;
optional int32 moving_frames_count = 13;
optional Status status = 14;
}
message RadarObstacles {
map<int32, RadarObstacle> radar_obstacle = 1; // An array of obstacles
optional apollo.common.Header header = 2; // Header
optional apollo.common.ErrorCode error_code = 3 [default = OK];
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/gnss_best_pose.proto
|
syntax = "proto2";
package apollo.drivers.gnss;
import "modules/common_msgs/basic_msgs/header.proto";
enum SolutionStatus {
SOL_COMPUTED = 0; // solution computed
INSUFFICIENT_OBS = 1; // insufficient observations
NO_CONVERGENCE = 2; // no convergence
SINGULARITY = 3; // singularity at parameters matrix
COV_TRACE = 4; // covariance trace exceeds maximum (trace > 1000 m)
TEST_DIST = 5; // test distance exceeded (max of 3 rejections if distance >
// 10 km)
COLD_START = 6; // not yet converged from cold start
V_H_LIMIT = 7; // height or velocity limits exceeded
VARIANCE = 8; // variance exceeds limits
RESIDUALS = 9; // residuals are too large
INTEGRITY_WARNING = 13; // large residuals make position questionable
PENDING = 18; // receiver computes its position and determines if the fixed
// position is valid
INVALID_FIX = 19; // the fixed position entered using the fix position
// command is invalid
UNAUTHORIZED = 20; // position type is unauthorized
INVALID_RATE =
22; // selected logging rate is not supported for this solution type
}
enum SolutionType {
NONE = 0;
FIXEDPOS = 1;
FIXEDHEIGHT = 2;
FLOATCONV = 4;
WIDELANE = 5;
NARROWLANE = 6;
DOPPLER_VELOCITY = 8;
SINGLE = 16;
PSRDIFF = 17;
WAAS = 18;
PROPOGATED = 19;
OMNISTAR = 20;
L1_FLOAT = 32;
IONOFREE_FLOAT = 33;
NARROW_FLOAT = 34;
L1_INT = 48;
WIDE_INT = 49;
NARROW_INT = 50;
RTK_DIRECT_INS =
51; // RTK filter is directly initialized from the INS filter.
INS_SBAS = 52;
INS_PSRSP = 53;
INS_PSRDIFF = 54;
INS_RTKFLOAT = 55;
INS_RTKFIXED = 56;
INS_OMNISTAR = 57;
INS_OMNISTAR_HP = 58;
INS_OMNISTAR_XP = 59;
OMNISTAR_HP = 64;
OMNISTAR_XP = 65;
PPP_CONVERGING = 68;
PPP = 69;
INS_PPP_CONVERGING = 73;
INS_PPP = 74;
}
enum DatumId {
// We only use WGS-84.
WGS84 = 61;
}
message GnssBestPose {
optional apollo.common.Header header = 1;
optional double measurement_time = 2; // In seconds.
optional SolutionStatus sol_status = 3;
optional SolutionType sol_type = 4;
optional double latitude = 5; // in degrees
optional double longitude = 6; // in degrees
optional double height_msl = 7; // height above mean sea level in meters
optional float undulation = 8; // undulation = height_wgs84 - height_msl
optional DatumId datum_id = 9; // datum id number
optional float latitude_std_dev = 10; // latitude standard deviation (m)
optional float longitude_std_dev = 11; // longitude standard deviation (m)
optional float height_std_dev = 12; // height standard deviation (m)
optional bytes base_station_id = 13; // base station id
optional float differential_age = 14; // differential position age (sec)
optional float solution_age = 15; // solution age (sec)
optional uint32 num_sats_tracked = 16; // number of satellites tracked
// number of satellites used in solution
optional uint32 num_sats_in_solution = 17;
// number of L1/E1/B1 satellites used in solution
optional uint32 num_sats_l1 = 18;
// number of multi-frequency satellites used in solution
optional uint32 num_sats_multi = 19;
optional uint32 reserved = 20; // reserved
// extended solution status - OEMV and greater only
optional uint32 extended_solution_status = 21;
optional uint32 galileo_beidou_used_mask = 22;
optional uint32 gps_glonass_used_mask = 23;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/racobit_radar.proto
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syntax = "proto2";
package apollo.drivers;
import "modules/common_msgs/basic_msgs/header.proto";
message RacobitClusterListStatus_600 {
optional int32 near = 1 [default = 0];
optional int32 far = 2 [default = 0];
optional int32 meas_counter = 3 [default = -1];
optional int32 interface_version = 4;
}
message RacobitObjectListStatus_60A {
optional int32 nof_objects = 1 [default = 0];
optional int32 meas_counter = 2 [default = -1];
optional int32 interface_version = 3;
}
message RacobitRadarState_201 {
enum OutputType {
OUTPUT_TYPE_NONE = 0;
OUTPUT_TYPE_OBJECTS = 1;
OUTPUT_TYPE_CLUSTERS = 2;
OUTPUT_TYPE_ERROR = 3;
}
enum RcsThreshold {
RCS_THRESHOLD_STANDARD = 0;
RCS_THRESHOLD_HIGH_SENSITIVITY = 1;
RCS_THRESHOLD_ERROR = 2;
}
optional uint32 max_distance = 1;
optional uint32 radar_power = 2;
optional OutputType output_type = 3;
optional RcsThreshold rcs_threshold = 4;
optional bool send_quality = 5;
optional bool send_ext_info = 6;
}
message RacobitRadarObs {
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
optional apollo.common.Header header = 1;
optional bool clusterortrack = 2; // 0 = track, 1 = cluster
optional int32 obstacle_id = 3; // obstacle Id
// longitude distance to the radar; (+) = forward; unit = m
optional double longitude_dist = 4;
// lateral distance to the radar; (+) = left; unit = m
optional double lateral_dist = 5;
// longitude velocity to the radar; (+) = farword; unit = m/s
optional double longitude_vel = 6;
// lateral velocity to the radar; (+) = left; unit = m/s
optional double lateral_vel = 7;
// obstacle Radar Cross-Section; unit = dBsm
optional double rcs = 8;
// 0 = moving, 1 = stationary, 2 = oncoming, 3 = stationary candidate
// 4 = unknown, 5 = crossing stationary, 6 = crossing moving, 7 = stopped
optional int32 dynprop = 9;
// longitude distance standard deviation to the radar; (+) = forward; unit = m
optional double longitude_dist_rms = 10;
// lateral distance standard deviationto the radar; (+) = left; unit = m
optional double lateral_dist_rms = 11;
// longitude velocity standard deviation to the radar; (+) = farword; unit =
// m/s
optional double longitude_vel_rms = 12;
// lateral velocity standard deviation to the radar; (+) = left; unit = m/s
optional double lateral_vel_rms = 13;
// obstacle probability of existence
optional double probexist = 14;
// The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
// from merge
optional int32 meas_state = 15;
// longitude acceleration to the radar; (+) = farword; unit = m/s2
optional double longitude_accel = 16;
// lateral acceleration to the radar; (+) = left; unit = m/s2
optional double lateral_accel = 17;
// oritation angle to the radar; (+) = conterclockwise; unit = degree
optional double oritation_angle = 18;
// longitude acceleration standard deviation to the radar; (+) = farword; unit
// = m/s2
optional double longitude_accel_rms = 19;
// lateral acceleration standard deviation to the radar; (+) = left; unit =
// m/s2
optional double lateral_accel_rms = 20;
// oritation angle standard deviation to the radar; (+) = conterclockwise;
// unit = degree
optional double oritation_angle_rms = 21;
optional double length = 22; // obstacle length; unit = m
optional double width = 23; // obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motocycle; 5: bicycle; 6:
// wide; 7: unknown
optional int32 obstacle_class = 24;
}
message RacobitRadar {
optional apollo.common.Header header = 1;
repeated RacobitRadarObs contiobs = 2; // conti radar obstacle array
optional RacobitRadarState_201 radar_state = 3;
optional RacobitClusterListStatus_600 cluster_list_status = 4;
optional RacobitObjectListStatus_60A object_list_status = 5;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/conti_radar.proto
|
syntax = "proto2";
package apollo.drivers;
import "modules/common_msgs/basic_msgs/header.proto";
message ClusterListStatus_600 {
optional int32 near = 1 [default = 0];
optional int32 far = 2 [default = 0];
optional int32 meas_counter = 3 [default = -1];
optional int32 interface_version = 4;
}
message ObjectListStatus_60A {
optional int32 nof_objects = 1 [default = 0];
optional int32 meas_counter = 2 [default = -1];
optional int32 interface_version = 3;
}
message RadarState_201 {
enum OutputType {
OUTPUT_TYPE_NONE = 0;
OUTPUT_TYPE_OBJECTS = 1;
OUTPUT_TYPE_CLUSTERS = 2;
OUTPUT_TYPE_ERROR = 3;
}
enum RcsThreshold {
RCS_THRESHOLD_STANDARD = 0;
RCS_THRESHOLD_HIGH_SENSITIVITY = 1;
RCS_THRESHOLD_ERROR = 2;
}
optional uint32 max_distance = 1;
optional uint32 radar_power = 2;
optional OutputType output_type = 3;
optional RcsThreshold rcs_threshold = 4;
optional bool send_quality = 5;
optional bool send_ext_info = 6;
}
message ContiRadarObs {
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
optional apollo.common.Header header = 1;
optional bool clusterortrack = 2; // 0 = track, 1 = cluster
optional int32 obstacle_id = 3; // obstacle Id
// longitude distance to the radar; (+) = forward; unit = m
optional double longitude_dist = 4;
// lateral distance to the radar; (+) = left; unit = m
optional double lateral_dist = 5;
// longitude velocity to the radar; (+) = forward; unit = m/s
optional double longitude_vel = 6;
// lateral velocity to the radar; (+) = left; unit = m/s
optional double lateral_vel = 7;
// obstacle Radar Cross-Section; unit = dBsm
optional double rcs = 8;
// 0 = moving, 1 = stationary, 2 = oncoming, 3 = stationary candidate
// 4 = unknown, 5 = crossing stationary, 6 = crossing moving, 7 = stopped
optional int32 dynprop = 9;
// longitude distance standard deviation to the radar; (+) = forward; unit = m
optional double longitude_dist_rms = 10;
// lateral distance standard deviation to the radar; (+) = left; unit = m
optional double lateral_dist_rms = 11;
// longitude velocity standard deviation to the radar; (+) = forward; unit =
// m/s
optional double longitude_vel_rms = 12;
// lateral velocity standard deviation to the radar; (+) = left; unit = m/s
optional double lateral_vel_rms = 13;
// obstacle probability of existence
optional double probexist = 14;
// The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
// from merge
optional int32 meas_state = 15;
// longitude acceleration to the radar; (+) = forward; unit = m/s2
optional double longitude_accel = 16;
// lateral acceleration to the radar; (+) = left; unit = m/s2
optional double lateral_accel = 17;
// orientation angle to the radar; (+) = counterclockwise; unit = degree
optional double oritation_angle = 18;
// longitude acceleration standard deviation to the radar; (+) = forward; unit
// = m/s2
optional double longitude_accel_rms = 19;
// lateral acceleration standard deviation to the radar; (+) = left; unit =
// m/s2
optional double lateral_accel_rms = 20;
// orientation angle standard deviation to the radar; (+) = counterclockwise;
// unit = degree
optional double oritation_angle_rms = 21;
optional double length = 22; // obstacle length; unit = m
optional double width = 23; // obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6:
// wide; 7: unknown
optional int32 obstacle_class = 24;
}
message ContiRadar {
optional apollo.common.Header header = 1;
repeated ContiRadarObs contiobs = 2; // conti radar obstacle array
optional RadarState_201 radar_state = 3;
optional ClusterListStatus_600 cluster_list_status = 4;
optional ObjectListStatus_60A object_list_status = 5;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/pointcloud.proto
|
syntax = "proto2";
package apollo.drivers;
import "modules/common_msgs/basic_msgs/header.proto";
message PointXYZIT {
optional float x = 1 [default = nan];
optional float y = 2 [default = nan];
optional float z = 3 [default = nan];
optional uint32 intensity = 4 [default = 0];
optional uint64 timestamp = 5 [default = 0];
}
message PointCloud {
optional apollo.common.Header header = 1;
optional string frame_id = 2;
optional bool is_dense = 3;
repeated PointXYZIT point = 4;
optional double measurement_time = 5;
optional uint32 width = 6;
optional uint32 height = 7;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/gnss_raw_observation.proto
|
syntax = "proto2";
package apollo.drivers.gnss;
// pre-defined GNSS band frequency ID
enum GnssBandID {
BAND_UNKNOWN = 0;
GPS_L1 = 1;
GPS_L2 = 2;
GPS_L5 = 3;
BDS_B1 = 4;
BDS_B2 = 5;
BDS_B3 = 6;
GLO_G1 = 7;
GLO_G2 = 8;
GLO_G3 = 9;
}
// observation and ephemeris related system time type
enum GnssTimeType {
TIME_UNKNOWN = 0;
GPS_TIME = 1;
BDS_TIME = 2;
GLO_TIME = 3;
GAL_TIME = 4;
}
// observation and ephemeris related system type
enum GnssType {
SYS_UNKNOWN = 0;
GPS_SYS = 1;
BDS_SYS = 2;
GLO_SYS = 3;
GAL_SYS = 4;
}
// type of pseudo-range
enum PseudoType {
CODE_UNKNOWN = 0;
CORSE_CODE = 1;
PRECISION_CODE = 2;
}
// This message defines one band observation of a certain satellite
message BandObservation {
// observation on a certain frequency band
optional GnssBandID band_id = 1 [default = BAND_UNKNOWN];
optional double frequency_value = 2;
optional PseudoType pseudo_type = 3 [default = CODE_UNKNOWN];
// unit in meter
optional double pseudo_range = 4;
// unit in cycle
optional double carrier_phase = 5;
// Indicator of losing tracking of the signal
optional uint32 loss_lock_index = 6;
// unit in /s
optional double doppler = 7;
// Signal strength: signal noise ratio or carrier noise ratio
optional float snr = 8;
}
// This message defines one satellite observation of a certain epoch
message SatelliteObservation {
optional uint32 sat_prn = 1;
optional GnssType sat_sys = 2 [default = GPS_SYS];
optional uint32 band_obs_num = 3;
repeated BandObservation band_obs = 4;
}
// This message defines one epoch observation on a certain time of a receiver
message EpochObservation {
// Unique id to a certain receiver
// 0 for rover, otherwise for baser, supporting multi-baser mode
optional uint32 receiver_id = 1;
optional GnssTimeType gnss_time_type = 2 [default = GPS_TIME];
optional uint32 gnss_week = 3;
optional double gnss_second_s = 4;
// Baser observation should be bound with coordinates
// unit in meter
optional double position_x = 5;
// unit in meter
optional double position_y = 6;
// unit in meter
optional double position_z = 7;
// Health indicator: 0 for healthy while 1 for bad observation
optional uint32 health_flag = 8 [default = 0];
// Number of observed satellites
optional uint32 sat_obs_num = 9;
// Group of observed satellite observation
repeated SatelliteObservation sat_obs = 10;
}
// This message defines main six keppler orbit parameters and perturbations,
// designed for gps, beidou, (also supporting gnss, galileo)
message KepplerOrbit {
optional GnssType gnss_type = 1 [default = GPS_SYS];
optional uint32 sat_prn = 2;
optional GnssTimeType gnss_time_type = 3 [default = GPS_TIME];
// TOC: time of clock
optional uint32 year = 4;
optional uint32 month = 5;
optional uint32 day = 6;
optional uint32 hour = 7;
optional uint32 minute = 8;
optional double second_s = 9;
// GNSS week number
optional uint32 week_num = 10;
optional double reserved = 11;
optional double af0 = 12; // clock correction(sec)
optional double af1 = 13; // clock correction(sec/sec)
optional double af2 = 14; // clock correction(sec/sec2)
optional double iode = 15; // Issue Of Data, Ephemeris in subframes 2 and 3
optional double deltan =
16; // mean anomaly correction semi-circles per sec*pi = rads
optional double m0 = 17; // mean anomaly at ref time semi-circles*pi = rads
optional double e = 18; // eccentricity
optional double roota = 19; // sqr root a ( meters 1/2 )
optional double toe = 20; // ref time (sec) of ephemeris
optional double toc = 21; // ref time (sec) of clock
optional double cic = 22; // harmonic correction term(rads)
optional double crc = 23; // harmonic correction term(meters)
optional double cis = 24; // harmonic correction term(rads)
optional double crs = 25; // harmonic correction term(meters)
optional double cuc = 26; // harmonic correction term(rads)
optional double cus = 27; // harmonic correction term(rads)
optional double omega0 =
28; // longitude of ascending node semi-circles*pi = rads
optional double omega = 29; // argument of perigee semi-circles*pi
optional double i0 = 30; // inclination angle at ref time semi-circles*pi
optional double omegadot = 31; // rate of right ascension semi-circles/sec*pi
optional double idot = 32; // rate of inclination semi-circles/sec*pi
optional double codesonL2channel = 33; // pseudo range codes on L2
optional uint32 L2Pdataflag = 34; // data flag of L2P
optional uint32 accuracy = 35; // user range accuracy
optional uint32 health = 36; // satellite health: 0=good,1=bad
optional double tgd = 37; // group delay (s)
optional double iodc = 38; // Issue Of Data, Clock
}
// This message defines orbit parameters of GLONASS
message GlonassOrbit {
optional GnssType gnss_type = 1 [default = GLO_SYS];
optional uint32 slot_prn = 2;
optional GnssTimeType gnss_time_type = 3 [default = GLO_TIME];
// refer to GLONASS time and toc == toe
optional double toe = 4;
// must convert toe to UTC(+0) format and fulfill year, month...second_s,etc.
optional uint32 year = 5;
optional uint32 month = 6;
optional uint32 day = 7;
optional uint32 hour = 8;
optional uint32 minute = 9;
optional double second_s = 10;
// unit in meter
optional int32 frequency_no = 11;
// GNSS week number
optional uint32 week_num = 12;
// GNSS week second in seconds
optional double week_second_s = 13;
// frame broadcasted time
optional double tk = 14;
// clock correction(sec/sec),warning: set clock_offset = -TauN
optional double clock_offset = 15;
// clock correction(sec/sec2),warning: set clock_drift = +GammaN
optional double clock_drift = 16;
// Satellite health : 0=good,1=bad
optional uint32 health = 17;
// unit in meter
optional double position_x = 18;
optional double position_y = 19;
optional double position_z = 20;
// unit in m/s
optional double velocity_x = 21;
optional double velocity_y = 22;
optional double velocity_z = 23;
// unit in m/s2
optional double accelerate_x = 24;
optional double accelerate_y = 25;
optional double accelerate_z = 26;
optional double infor_age = 27;
optional uint32 sat_prn = 28;
}
// This message encapsulates keppler orbit message and glonass message
message GnssEphemeris {
optional GnssType gnss_type = 1 [default = GLO_SYS];
optional KepplerOrbit keppler_orbit = 2;
optional GlonassOrbit glonass_orbit = 3;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/smartereye.proto
|
syntax = "proto2";
package apollo.drivers;
import "modules/common_msgs/basic_msgs/header.proto";
enum LdwVersions {
LDW_VERSION_C1 = 0;
LDW_VERSION_C2 = 1;
LDW_VERSION_FOUR_LANE_C2 = 2;
}
enum LdwLaneStyle {
LDW_LANE_STYLE_NONE_LANE = 0;
LDW_LANE_STYLE_PREDICT_LANE = 1;
LDW_LANE_STYLE_BROKEN_LANE = 2;
LDW_LANE_STYLE_SOLID_LANE = 3;
LDW_LANE_STYLE_DOUBLE_BROKEN_LANE = 4;
LDW_LANE_STYLE_DOUBLE_SOLID_LANE = 5;
LDW_LANE_STYLE_TRIPLE_LANE = 6;
}
enum LdwSteerStatus {
LDW_NORMAL_STEER = 0;
LDW_STEER_ON_LEFT__LANE = 1;
LDW_STEER_ON_RIGHT_LANE = 2;
LDW_STEER_WARNING_LEFT_ = 3;
LDW_STEER_WARNING_RIGHT = 4;
}
enum LdwSoftStatus {
LDW_SOFT_DETECTION = 0;
LDW_SOFT_SELF_LEARNING = 1;
LDW_SOFT_MANUAL_LEARNING_MODE0 = 2;
LDW_SOFT_MANUAL_LEARNING_MODE1 = 3;
}
enum LdwWarningGrade {
LDW_WARNING_LOW = 0;
LDW_WARNING_NORMAL = 1;
LDW_WARNING_HIGHT = 2;
}
message LdwLaneBoundary {
optional int32 degree = 1;
optional double c0_position = 2;
optional double c1_heading_angle = 3;
optional double c2_curvature = 4;
optional double c3_curvature_derivative = 5;
}
message LdwLane {
optional int32 width = 1;
optional int32 quality = 2;
optional LdwLaneStyle style = 3;
optional LdwLaneBoundary left_boundary = 4;
optional LdwLaneBoundary right_boundary = 5;
}
message LdwRoadway {
optional int32 width_0 = 1;
optional int32 width_1 = 2;
optional int32 width_2 = 3;
optional bool is_tracking = 4;
optional LdwLane left_lane = 5;
optional LdwLane right_lane = 6;
optional LdwLane adj_left_lane = 7;
optional LdwLane adj_right_lane = 8;
}
message LdwLensInfo {
optional float x_image_focal = 1;
optional float y_image_focal = 2;
optional float xratio_focal_pixel = 3;
optional float yratio_focal_pixel = 4;
optional float mountingheight = 5;
optional float mcosrx = 6;
optional float msinrx = 7;
optional float mcosry = 8;
optional float msinry = 9;
}
message LdwDataPacks {
optional LdwRoadway roadway = 1;
optional LdwSoftStatus softstatus = 2;
optional LdwSteerStatus steerstatus = 3;
optional LdwLensInfo lens = 4;
}
message OutputObstacle {
enum RecognitionType {
INVALID = 0;
VEHICLE = 1;
PEDESTRIAN = 2;
CHILD = 3;
BICYCLE = 4;
MOTO = 5;
TRUCK = 6;
BUS = 7;
OTHERS = 8;
ESTIMATED = 9;
CONTINUOUS = 10;
}
//(m/second) current frame self vehicle speed
optional float currentspeed = 1;
//(fps) frames per second
optional float framerate = 2;
// current obstacle corresponding tracking id in obstacle tracking buffer
optional uint32 trackid = 3;
// the track frame numbers of the obstacle, increments in 1 each frame until
// to the max record number, the actual number is (trackFrameNum + 1)
optional uint32 trackframenum = 4;
// classify obstacle for front collision, FC, 0: invalid or continuous
// obstacle, 1: nearest obstacle in warning area, 2: obstacle in waning area,
// 3: obstacle out of warning area
optional uint32 statelabel = 5;
// the obstacle class label: 0-invalid; 1-warning obstacle; 2-obstacles to be
// warned; 3-non warning obstacle; 4-left continuous obstacle; 5-right
// continuous obstacle; 6-estimated vanish obstacle; 7-valid obstacle
// original, the obstacle class label: 0-invalid; 1-car; 2-person;
// 3-continuous obstacle; 4-valid; 5-other
optional uint32 classlabel = 6;
// the continuous obstacle class label: 0-invalid; 1-left continuous obstacle;
// 2-right continuous obstacle
optional uint32 continuouslabel = 7;
//(0/1) 0: current fuzzy estimation is invalid; 1: current fuzzy estimation is
//valid
optional uint32 fuzzyestimationvalid = 8;
// the obstacle Type: INVALID=0,VEHICLE, PEDESTRIAN, ...
optional RecognitionType obstacletype = 9;
//(pixel) the average disparity of an obstacle with adding infDisp: avgDisp =
//BF_VALUE/avgDitance+infDis
optional float avgdisp = 10;
//(m) the average Z distance of single obstacle rectangle
optional float avgdistancez = 11;
//(m) the minimum Z distance of continuous obstacle
optional float neardistancez = 12;
//(m) the longest Z distance of continuous ob
optional float fardistancez = 13;
//(-+m) the left X for real 3D coordinate of the obstacle(the origin X is the
//center of car, right is positive)
optional float real3dleftx = 14;
//(-+m) the right X for real 3D coordinate of the obstacle(the origin X is the
//center of car, right is positive)
optional float real3drightx = 15;
//(-+m) the center X for real 3D coordinate of the obstacle(the origin X is
//the center of car, right is positive)
optional float real3dcenterx = 16;
//(-+m) the up Y for real 3D coordinate of the obstacle(the origin Y is the
//camera position, down is positive)
optional float real3dupy = 17;
//(-+m) the Low y for real 3D coordinate of the obstacle(the origin Y is the
//camera position, down is positive)
optional float real3dlowy = 18;
//(pixel) the X-axis of first point of rectangle, the first point :(x, y),
// left top point of single obstacle/near bottom point of continuous obstacle,
// full size pixel coordinate
optional uint32 firstpointx = 19;
//(pixel) the Y-axis of first point of rectangle, the first point :(x, y),
// left top point of single obstacle/near bottom point of continuous obstacle,
// full size pixel coordinate
optional uint32 firstpointy = 20;
//(pixel) the X-axis of second point of rectangle, the second point:(x+width,
//y),
// right top point of single obstacle/near top point of continuous obstacle,
// full size pixel coordinate
optional uint32 secondpointx = 21;
//(pixel) the Y-axis of second point of rectangle, the second point:(x+width,
//y), right top point of single obstacle/near top point of continuous
// obstacle, full size pixel coordinate
optional uint32 secondpointy = 22;
//(pixel) the X-axis of third point of rectangle, the third point :(x+width,
//y+height), right bottom point of single obstacle/far top point of continuous
// obstacle, full size pixel coordinate
optional uint32 thirdpointx = 23;
//(pixel) the Y-axis of third point of rectangle, the third point :(x+width,
//y+height), right bottom point of single obstacle/far top point of continuous
// obstacle, full size pixel coordinate
optional uint32 thirdpointy = 24;
//(pixel) the X-axis of fourth point of rectangle, the fourth
//point:(x,y+height), left bottom point of single obstacle/far bottom point of
// continuous obstacle, full size pixel coordinate
optional uint32 fourthpointx = 25;
//(pixel) the Y-axis of fourth point of rectangle, the fourth
//point:(x,y+height), left bottom point of single obstacle/far bottom point of
// continuous obstacle, full size pixel coordinate
optional uint32 fourthpointy = 26;
//(m) estimated relative distance in Z direction
optional float fuzzyrelativedistancez = 27;
//(m/second) estimated speed in Z direction of current obstacle
optional float fuzzyrelativespeedz = 28;
//(second) estimated collision time in Z direction
optional float fuzzycollisiontimez = 29;
//(0/1) estimated whether there is collision in X direction
optional uint32 fuzzycollisionx = 30;
//(m) estimated real 3D width of current obstacle
optional float fuzzy3dwidth = 31;
//(-+m) estimated real 3D position of obstacle center in X direction (the
//origin X is the center of car, right is positive)
optional float fuzzy3dcenterx = 32;
//(-+m) estimated real 3D position of obstacle left in X direction (the origin
//X is the center of car, right is positive)
optional float fuzzy3dleftx = 33;
//(-+m) estimated real 3D position of obstacle right in X direction (the
//origin X is the center of car, right is positive)
optional float fuzzy3drightx = 34;
//(m) estimated real 3D height of current obstacle
optional float fuzzy3dheight = 35;
//(-+m) estimated real 3D position of obstacle up in Y direction (the origin Y
//is the camera position, down is positive)
optional float fuzzy3dupy = 36;
//(-+m) estimated real 3D position of obstacle low in Y direction (the origin
//Y is the camera position, down is positive)
optional float fuzzy3dlowy = 37;
optional float fuzzyrelativespeedcenterx =
38; //(m/second) estimated center speed in X direction of current
//obstacle
optional float fuzzyrelativespeedleftx =
39; //(m/second) estimated left speed in X direction of current obstacle
optional float fuzzyrelativespeedrightx =
40; //(m/second) estimated right speed in X direction of current obstacle
}
message SmartereyeObstacles {
optional apollo.common.Header header = 1;
optional int32 num_obstacles = 2; // output obstacles num on one frame
map<uint32, OutputObstacle> output_obstacles = 3; // An array of obstacles
}
message SmartereyeLanemark {
optional LdwDataPacks lane_road_data = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/sensor_image.proto
|
syntax = "proto2";
package apollo.drivers;
import "modules/common_msgs/basic_msgs/header.proto";
// Encoding of pixels -- channel meaning, ordering, size
enum PixelFormat {
RGB8 = 1001;
RGBA8 = 1002;
RGB16 = 1003;
RGBA16 = 1004;
BGR8 = 1005;
BGRA8 = 1006;
BGR16 = 1007;
BGRA16 = 1008;
MONO8 = 1009;
MONO16 = 1010;
// OpenCV CvMat types
TYPE_8UC1 = 2001;
TYPE_8UC2 = 2002;
TYPE_8UC3 = 2003;
TYPE_8UC4 = 2004;
TYPE_8SC1 = 2005;
TYPE_8SC2 = 2006;
TYPE_8SC3 = 2007;
TYPE_8SC4 = 2008;
TYPE_16UC1 = 2009;
TYPE_16UC2 = 2010;
TYPE_16UC3 = 2011;
TYPE_16UC4 = 2012;
TYPE_16SC1 = 2013;
TYPE_16SC2 = 2014;
TYPE_16SC3 = 2015;
TYPE_16SC4 = 2016;
TYPE_32SC1 = 2017;
TYPE_32SC2 = 2018;
TYPE_32SC3 = 2019;
TYPE_32SC4 = 2020;
TYPE_32FC1 = 2021;
TYPE_32FC2 = 2022;
TYPE_32FC3 = 2023;
TYPE_32FC4 = 2024;
TYPE_64FC1 = 2025;
TYPE_64FC2 = 2026;
TYPE_64FC3 = 2027;
TYPE_64FC4 = 2028;
// Bayer encodings
BAYER_RGGB8 = 3001;
BAYER_BGGR8 = 3002;
BAYER_GBRG8 = 3003;
BAYER_GRBG8 = 3004;
BAYER_RGGB16 = 3005;
BAYER_BGGR16 = 3006;
BAYER_GBRG16 = 3007;
BAYER_GRBG16 = 3008;
// Miscellaneous
// This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
// with an 8-bit depth
YUV422 = 4001;
}
message Image {
optional apollo.common.Header header = 1;
optional string frame_id = 2;
optional double measurement_time = 3;
optional uint32 height = 4; // image height, that is, number of rows
optional uint32 width = 5; // image width, that is, number of columns
optional string encoding = 6;
optional uint32 step = 7; // Full row length in bytes
optional bytes data = 8; // actual matrix data, size is (step * rows)
}
message CompressedImage {
optional apollo.common.Header header = 1;
optional string frame_id = 2;
// Specifies the format of the data
// Acceptable values: jpeg, png
optional string format = 3;
optional bytes data = 4; // Compressed image buffer
optional double measurement_time = 5;
optional uint32 frame_type = 6;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/delphi_esr.proto
|
syntax = "proto2";
package apollo.drivers;
import "modules/common_msgs/basic_msgs/header.proto";
message Esr_status9_5e8 {
// Report Message
// [] [0|64]
optional int32 can_tx_path_id_acc_3 = 1;
// [] [0|64]
optional int32 can_tx_path_id_acc_2 = 2;
// [m] [-8|7.96875]
optional double can_tx_filtered_xohp_acc_cipv = 3;
// [] [0|64]
optional int32 can_tx_water_spray_target_id = 4;
// [] [0|0]
optional int32 can_tx_serial_num_3rd_byte = 5;
// [deg] [-64|63.875]
optional double can_tx_sideslip_angle = 6;
// [] [0|0]
optional int32 can_tx_avg_pwr_cwblkg = 7;
}
message Esr_status6_5e5 {
// Report Message
enum Can_tx_vertical_align_updatedType {
CAN_TX_VERTICAL_ALIGN_UPDATED_NOT_UPDATED = 0;
CAN_TX_VERTICAL_ALIGN_UPDATED_UPDATED = 1;
}
enum Can_tx_found_targetType {
CAN_TX_FOUND_TARGET_NOT_FOUND = 0;
CAN_TX_FOUND_TARGET_FOUND = 1;
}
enum Can_tx_factory_align_status_2Type {
CAN_TX_FACTORY_ALIGN_STATUS_2_OFF = 0;
CAN_TX_FACTORY_ALIGN_STATUS_2_BUSY = 1;
CAN_TX_FACTORY_ALIGN_STATUS_2_SUCCESS = 2;
CAN_TX_FACTORY_ALIGN_STATUS_2_FAIL_NO_TARGET = 3;
CAN_TX_FACTORY_ALIGN_STATUS_2_FAIL_DEV_TOO_LARGE = 4;
CAN_TX_FACTORY_ALIGN_STATUS_2_FAIL_VAR_TOO_LARGE = 5;
}
enum Can_tx_factory_align_status_1Type {
CAN_TX_FACTORY_ALIGN_STATUS_1_OFF = 0;
CAN_TX_FACTORY_ALIGN_STATUS_1_BUSY = 1;
CAN_TX_FACTORY_ALIGN_STATUS_1_SUCCESS = 2;
CAN_TX_FACTORY_ALIGN_STATUS_1_FAIL_NO_TARGET = 3;
CAN_TX_FACTORY_ALIGN_STATUS_1_FAIL_DEV_TOO_LARGE = 4;
CAN_TX_FACTORY_ALIGN_STATUS_1_FAIL_VAR_TOO_LARGE = 5;
}
enum Can_tx_recommend_unconvergeType {
CAN_TX_RECOMMEND_UNCONVERGE_NOT_RECOMMEND = 0;
CAN_TX_RECOMMEND_UNCONVERGE_RECOMMEND = 1;
}
enum Can_tx_system_power_modeType {
CAN_TX_SYSTEM_POWER_MODE_DSP_INIT = 0;
CAN_TX_SYSTEM_POWER_MODE_RADIATE_OFF = 1;
CAN_TX_SYSTEM_POWER_MODE_RADIATE_ON = 2;
CAN_TX_SYSTEM_POWER_MODE_DSP_SHUTDOWN = 3;
CAN_TX_SYSTEM_POWER_MODE_DSP_OFF = 4;
CAN_TX_SYSTEM_POWER_MODE_HOST_SHUTDOWN = 5;
CAN_TX_SYSTEM_POWER_MODE_TEST = 6;
CAN_TX_SYSTEM_POWER_MODE_7INVALID = 7;
}
// [] [0|0]
optional int32 can_tx_sw_version_dsp_3rd_byte = 1;
// [] [0|0]
optional Can_tx_vertical_align_updatedType can_tx_vertical_align_updated = 2;
// [] [-6|6]
optional double can_tx_vertical_misalignment = 3;
// [] [0|255]
optional int32 can_tx_serv_align_updates_done = 4;
// [] [0|0]
optional Can_tx_found_targetType can_tx_found_target = 5;
// [deg] [-5|5]
optional double can_tx_factory_misalignment = 6;
// [] [0|5]
optional Can_tx_factory_align_status_2Type can_tx_factory_align_status_2 = 7;
// [] [0|5]
optional Can_tx_factory_align_status_1Type can_tx_factory_align_status_1 = 8;
// [] [0|0]
optional Can_tx_recommend_unconvergeType can_tx_recommend_unconverge = 9;
// [] [0|0]
optional int32 can_tx_wave_diff_a2d = 10;
// [] [0|0]
optional Can_tx_system_power_modeType can_tx_system_power_mode = 11;
// [] [0|0]
optional int32 can_tx_supply_n5v_a2d = 12;
// [] [0|0]
optional int32 can_tx_supply_1p8v_a2d = 13;
}
message Esr_status5_5e4 {
// Report Message
// [] [0|0]
optional int32 can_tx_supply_10v_a2d = 1;
// [] [0|0]
optional int32 can_tx_temp2_a2d = 2;
// [] [0|0]
optional int32 can_tx_temp1_a2d = 3;
// [] [0|0]
optional int32 can_tx_swbatt_a2d = 4;
// [] [0|0]
optional int32 can_tx_supply_5vdx_a2d = 5;
// [] [0|0]
optional int32 can_tx_supply_5va_a2d = 6;
// [] [0|0]
optional int32 can_tx_supply_3p3v_a2d = 7;
// [] [0|0]
optional int32 can_tx_ignp_a2d = 8;
}
message Esr_status3_4e2 {
// Report Message
// [] [0|0]
optional int32 can_tx_sw_version_pld = 1;
// [] [0|0]
optional int32 can_tx_sw_version_host = 2;
// [] [0|0]
optional int32 can_tx_hw_version = 3;
// [] [0|0]
optional int32 can_tx_interface_version = 4;
// [] [0|0]
optional int32 can_tx_serial_num = 5;
}
message Esr_status4_4e3 {
// Report Message
enum Can_tx_truck_target_detType {
CAN_TX_TRUCK_TARGET_DET_NOT_DETECTED = 0;
CAN_TX_TRUCK_TARGET_DET_DETECTED = 1;
}
enum Can_tx_lr_only_grating_lobe_detType {
CAN_TX_LR_ONLY_GRATING_LOBE_DET_NOT_DETECTED = 0;
CAN_TX_LR_ONLY_GRATING_LOBE_DET_DETECTED = 1;
}
enum Can_tx_sidelobe_blockageType {
CAN_TX_SIDELOBE_BLOCKAGE_OFF = 0;
CAN_TX_SIDELOBE_BLOCKAGE_ON = 1;
}
enum Can_tx_partial_blockageType {
CAN_TX_PARTIAL_BLOCKAGE_NOT_BLOCKED = 0;
CAN_TX_PARTIAL_BLOCKAGE_BLOCKED = 1;
}
enum Can_tx_mr_lr_modeType {
CAN_TX_MR_LR_MODE_RESERVED = 0;
CAN_TX_MR_LR_MODE_OUTPUT_ONLY_MEDIUM_RANGE_TRACKS = 1;
CAN_TX_MR_LR_MODE_OUTPUT_ONLY_LONG_RANGE_TRACKS = 2;
CAN_TX_MR_LR_MODE_OUTPUT_ALL_MEDIUM_RANGE_AND_LONG = 3;
}
// [] [0|0]
optional Can_tx_truck_target_detType can_tx_truck_target_det = 1;
// [] [0|0]
optional Can_tx_lr_only_grating_lobe_detType can_tx_lr_only_grating_lobe_det =
2;
// [] [0|0]
optional Can_tx_sidelobe_blockageType can_tx_sidelobe_blockage = 3;
// [] [0|0]
optional Can_tx_partial_blockageType can_tx_partial_blockage = 4;
// [] [0|0]
optional int32 can_tx_path_id_acc_stat = 5;
// [] [0|3]
optional Can_tx_mr_lr_modeType can_tx_mr_lr_mode = 6;
// [] [-8|7.9375]
optional double can_tx_auto_align_angle = 7;
// [] [0|0]
optional int32 can_tx_rolling_count_3 = 8;
// [] [0|0]
optional int32 can_tx_path_id_fcw_stat = 9;
// [] [0|0]
optional int32 can_tx_path_id_fcw_move = 10;
// [] [0|0]
optional int32 can_tx_path_id_cmbb_stat = 11;
// [] [0|0]
optional int32 can_tx_path_id_cmbb_move = 12;
// [] [0|0]
optional int32 can_tx_path_id_acc = 13;
}
message Esr_trackmotionpower_540 {
// Report Message
// [] [0|1]
optional bool can_tx_track_rolling_count_2 = 1;
optional int32 can_tx_track_can_id_group = 2;
message Motionpower {
optional bool can_tx_track_moving = 1;
optional bool can_tx_track_moving_fast = 2;
optional bool can_tx_track_moving_slow = 3;
optional int32 can_tx_track_power = 4;
}
repeated Motionpower can_tx_track_motion_power = 3;
}
message Acm_inst_req_7e0 {
// Report Message
// [] [0|0]
optional int32 command_ctr = 1;
// [] [0|0]
optional int32 command_code = 2;
// [] [0|0]
optional int32 cc_word_2 = 3;
// [] [0|0]
optional int32 cc_word_1 = 4;
// [] [0|0]
optional int32 cc_byte_2 = 5;
// [] [0|0]
optional int32 cc_byte_1 = 6;
}
message Esr_track01_500 {
// Report Message
enum Can_tx_track_grouping_changedType {
CAN_TX_TRACK_GROUPING_CHANGED_GROUPINGUNCHANGED = 0;
CAN_TX_TRACK_GROUPING_CHANGED_GROUPINGCHANGED = 1;
}
enum Can_tx_track_oncomingType {
CAN_TX_TRACK_ONCOMING_NOTONCOMING = 0;
CAN_TX_TRACK_ONCOMING_ONCOMING = 1;
}
enum Can_tx_track_bridge_objectType {
CAN_TX_TRACK_BRIDGE_OBJECT_NOT_BRIDGE = 0;
CAN_TX_TRACK_BRIDGE_OBJECT_BRIDGE = 1;
}
enum Can_tx_track_statusType {
CAN_TX_TRACK_STATUS_NO_TARGET = 0;
CAN_TX_TRACK_STATUS_NEW_TARGET = 1;
CAN_TX_TRACK_STATUS_NEW_UPDATED_TARGET = 2;
CAN_TX_TRACK_STATUS_UPDATED_TARGET = 3;
CAN_TX_TRACK_STATUS_COASTED_TARGET = 4;
CAN_TX_TRACK_STATUS_MERGED_TARGET = 5;
CAN_TX_TRACK_STATUS_INVALID_COASTED_TARGET = 6;
CAN_TX_TRACK_STATUS_NEW_COASTED_TARGET = 7;
}
enum Can_tx_track_med_range_modeType {
CAN_TX_TRACK_MED_RANGE_MODE_NO_MR_LR_UPDATE = 0;
CAN_TX_TRACK_MED_RANGE_MODE_MR_UPDATE_ONLY = 1;
CAN_TX_TRACK_MED_RANGE_MODE_LR_UPDATE_ONLY = 2;
CAN_TX_TRACK_MED_RANGE_MODE_BOTH_MR_LR_UPDATE = 3;
}
// [] [0|0]
optional Can_tx_track_grouping_changedType can_tx_track_grouping_changed = 1;
// [] [0|0]
optional Can_tx_track_oncomingType can_tx_track_oncoming = 2;
// [] [-8|7.75]
optional double can_tx_track_lat_rate = 3;
// [] [0|0]
optional Can_tx_track_bridge_objectType can_tx_track_bridge_object = 4;
// [m] [0|7.5]
optional double can_tx_track_width = 5;
// [] [0|7]
optional Can_tx_track_statusType can_tx_track_status = 6;
// [] [0|1]
optional bool can_tx_track_rolling_count = 7;
// [m/s] [-81.92|81.91]
optional double can_tx_track_range_rate = 8;
// [m/s/s] [-25.6|25.55]
optional double can_tx_track_range_accel = 9;
// [m] [0|204.7]
optional double can_tx_track_range = 10;
// [] [0|3]
optional Can_tx_track_med_range_modeType can_tx_track_med_range_mode = 11;
// [deg] [-51.2|51.1]
optional double can_tx_track_angle = 12;
}
message Esr_valid1_5d0 {
// Report Message
// [] [0|0]
optional int32 can_tx_valid_lr_sn = 1;
// [m/s] [-128|127]
optional double can_tx_valid_lr_range_rate = 2;
// [m] [0|200]
optional double can_tx_valid_lr_range = 3;
// [dB] [-10|40]
optional int32 can_tx_valid_lr_power = 4;
// [deg] [-64|63.9375]
optional double can_tx_valid_lr_angle = 5;
}
message Esr_valid2_5d1 {
// Report Message
// [] [0|0]
optional int32 can_tx_valid_mr_sn = 1;
// [m/s] [-128|127]
optional double can_tx_valid_mr_range_rate = 2;
// [m] [0|200]
optional double can_tx_valid_mr_range = 3;
// [dB] [-10|40]
optional int32 can_tx_valid_mr_power = 4;
// [deg] [-64|63.9375]
optional double can_tx_valid_mr_angle = 5;
}
message Acm_inst_resp_7e4 {
// Report Message
// [] [0|0]
optional int32 data_7 = 1;
// [] [0|0]
optional int32 data_6 = 2;
// [] [0|0]
optional int32 data_5 = 3;
// [] [0|0]
optional int32 data_4 = 4;
// [] [0|0]
optional int32 data_3 = 5;
// [] [0|0]
optional int32 rtn_cmd_counter = 6;
// [] [0|0]
optional int32 command_return_code = 7;
// [] [0|0]
optional int32 pid = 8;
}
message Vehicle2_4f1 {
// Report Message
enum Can_rx_mr_only_transmitType {
CAN_RX_MR_ONLY_TRANSMIT_OFF = 0;
CAN_RX_MR_ONLY_TRANSMIT_ON = 1;
}
enum Can_rx_lr_only_transmitType {
CAN_RX_LR_ONLY_TRANSMIT_OFF = 0;
CAN_RX_LR_ONLY_TRANSMIT_ON = 1;
}
enum Can_rx_clear_faultsType {
CAN_RX_CLEAR_FAULTS_OFF = 0;
CAN_RX_CLEAR_FAULTS_ON = 1;
}
enum Can_rx_use_angle_misalignmentType {
CAN_RX_USE_ANGLE_MISALIGNMENT_OFF = 0;
CAN_RX_USE_ANGLE_MISALIGNMENT_ON = 1;
}
enum Can_rx_turn_signal_statusType {
CAN_RX_TURN_SIGNAL_STATUS_OFF = 0;
CAN_RX_TURN_SIGNAL_STATUS_LEFT = 1;
CAN_RX_TURN_SIGNAL_STATUS_RIGHT = 2;
CAN_RX_TURN_SIGNAL_STATUS_INVALID_3 = 3;
}
enum Can_rx_blockage_disableType {
CAN_RX_BLOCKAGE_DISABLE_ENABLED = 0;
CAN_RX_BLOCKAGE_DISABLE_DISABLED = 1;
}
enum Can_rx_vehicle_speed_validityType {
CAN_RX_VEHICLE_SPEED_VALIDITY_INVALID = 0;
CAN_RX_VEHICLE_SPEED_VALIDITY_VALID = 1;
}
enum Can_rx_mmr_upside_downType {
CAN_RX_MMR_UPSIDE_DOWN_RIGHT_SIDE_UP = 0;
CAN_RX_MMR_UPSIDE_DOWN_UPSIDE_DOWN = 1;
}
enum Can_rx_wiper_statusType {
CAN_RX_WIPER_STATUS_OFF = 0;
CAN_RX_WIPER_STATUS_ON = 1;
}
enum Can_rx_raw_data_enableType {
CAN_RX_RAW_DATA_ENABLE_FILTERED = 0;
CAN_RX_RAW_DATA_ENABLE_RAW = 1;
}
enum Can_rx_radar_cmd_radiateType {
CAN_RX_RADAR_CMD_RADIATE_OFF = 0;
CAN_RX_RADAR_CMD_RADIATE_ON = 1;
}
enum Can_rx_grouping_modeType {
CAN_RX_GROUPING_MODE_NO_GROUPING = 0;
CAN_RX_GROUPING_MODE_GROUP_MOVING_ONLY = 1;
CAN_RX_GROUPING_MODE_GROUP_STATIONARY_ONLY = 2;
CAN_RX_GROUPING_MODE_GROUP_MOVING_STATIONARY = 3;
}
// [m] [-4000|3500]
optional double can_rx_volvo_short_track_roc = 1;
// [] [0|0]
optional Can_rx_mr_only_transmitType can_rx_mr_only_transmit = 2;
// [] [0|0]
optional Can_rx_lr_only_transmitType can_rx_lr_only_transmit = 3;
// [deg] [-32|31]
optional int32 can_rx_high_yaw_angle = 4;
// [] [0|0]
optional Can_rx_clear_faultsType can_rx_clear_faults = 5;
// [] [0|0]
optional Can_rx_use_angle_misalignmentType can_rx_use_angle_misalignment = 6;
// [] [0|0]
optional Can_rx_turn_signal_statusType can_rx_turn_signal_status = 7;
// [] [0|0]
optional Can_rx_blockage_disableType can_rx_blockage_disable = 8;
// [] [0|0]
optional Can_rx_vehicle_speed_validityType can_rx_vehicle_speed_validity = 9;
// [] [0|1]
optional Can_rx_mmr_upside_downType can_rx_mmr_upside_down = 10;
// [] [0|0]
optional Can_rx_wiper_statusType can_rx_wiper_status = 11;
// [] [0|0]
optional Can_rx_raw_data_enableType can_rx_raw_data_enable = 12;
// [] [0|0]
optional Can_rx_radar_cmd_radiateType can_rx_radar_cmd_radiate = 13;
// [] [0|3]
optional Can_rx_grouping_modeType can_rx_grouping_mode = 14;
// [] [1|64]
optional int32 can_rx_maximum_tracks = 15;
// (+) = to the right from driver's perspective [m] [-2|1.984375]
optional double can_rx_lateral_mounting_offset = 16;
// (+) = clockwise [deg] [-8|7.9375]
optional double can_rx_angle_misalignment = 17;
// [] [0|65535]
optional int32 can_rx_scan_index_ack = 18;
}
message Vehicle1_4f0 {
// Report Message
enum Can_rx_steering_angle_validityType {
CAN_RX_STEERING_ANGLE_VALIDITY_INVALID = 0;
CAN_RX_STEERING_ANGLE_VALIDITY_VALID = 1;
}
enum Can_rx_steering_angle_signType {
CAN_RX_STEERING_ANGLE_SIGN_COUNTERCLOCKWISE = 0;
CAN_RX_STEERING_ANGLE_SIGN_CLOCKWISE = 1;
}
enum Can_rx_steering_angle_rate_signType {
CAN_RX_STEERING_ANGLE_RATE_SIGN_COUNTERCLOCKWISE = 0;
CAN_RX_STEERING_ANGLE_RATE_SIGN_CLOCKWISE = 1;
}
enum Can_rx_yaw_rate_validityType {
CAN_RX_YAW_RATE_VALIDITY_INVALID = 0;
CAN_RX_YAW_RATE_VALIDITY_VALID = 1;
}
enum Can_rx_vehicle_speed_directionType {
CAN_RX_VEHICLE_SPEED_DIRECTION_FORWARD = 0;
CAN_RX_VEHICLE_SPEED_DIRECTION_REVERSE = 1;
}
// [] [0|0]
optional Can_rx_steering_angle_validityType can_rx_steering_angle_validity =
1;
// [deg/s] [0|2047]
optional int32 can_rx_steering_angle_rate = 2;
// [] [0|0]
optional Can_rx_steering_angle_signType can_rx_steering_angle_sign = 3;
// [] [0|0]
optional Can_rx_steering_angle_rate_signType can_rx_steering_angle_rate_sign =
4;
// [deg] [0|2047]
optional int32 can_rx_steering_angle = 5;
// [m] [-8192|8191]
optional int32 can_rx_radius_curvature = 6;
// [] [0|0]
optional Can_rx_yaw_rate_validityType can_rx_yaw_rate_validity = 7;
// [deg/s] [-128|127.9375]
optional double can_rx_yaw_rate = 8;
// [] [0|0]
optional Can_rx_vehicle_speed_directionType can_rx_vehicle_speed_direction =
9;
// [m/s] [0|127.9375]
optional double can_rx_vehicle_speed = 10;
}
message Esr_sim1_5c0 {
// Report Message
enum Can_rx_sim_track_idType {
CAN_RX_SIM_TRACK_ID_NO_TARGET = 0;
CAN_RX_SIM_TRACK_ID_TARGET_1 = 1;
CAN_RX_SIM_TRACK_ID_TARGET_2 = 2;
}
enum Can_rx_sim_statusType {
CAN_RX_SIM_STATUS_INVALID = 0;
CAN_RX_SIM_STATUS_NEW = 1;
CAN_RX_SIM_STATUS_UPDATED = 2;
CAN_RX_SIM_STATUS_COASTED = 3;
}
enum Can_rx_sim_functionType {
CAN_RX_SIM_FUNCTION_ACC = 0;
CAN_RX_SIM_FUNCTION_RI = 1;
CAN_RX_SIM_FUNCTION_FCW_MOVE = 2;
CAN_RX_SIM_FUNCTION_FCW_STAT = 3;
CAN_RX_SIM_FUNCTION_CMBB_MOVE = 4;
CAN_RX_SIM_FUNCTION_CMBB_STAT = 5;
CAN_RX_SIM_FUNCTION_ALL_MOVING_ACC_FCW_CMBB = 6;
CAN_RX_SIM_FUNCTION_ALL_STAT_RI_FCW_CMBB = 7;
}
// [] [0|0]
optional Can_rx_sim_track_idType can_rx_sim_track_id = 1;
// [] [0|0]
optional Can_rx_sim_statusType can_rx_sim_status = 2;
// [m/s] [-32|31.75]
optional double can_rx_sim_range_rate = 3;
// [m/s/s] [-32|31.75]
optional double can_rx_sim_range_accel = 4;
// [m] [0|0]
optional int32 can_rx_sim_range = 5;
// [m/s] [-32|31.75]
optional double can_rx_sim_lat_rate = 6;
// [m] [-32|31.75]
optional double can_rx_sim_lat_pos = 7;
// [] [0|0]
optional Can_rx_sim_functionType can_rx_sim_function = 8;
// [deg] [-64|63.5]
optional double can_rx_sim_angle = 9;
}
message Esr_status1_4e0 {
// Report Message
// [ms] [0|254]
optional double can_tx_dsp_timestamp = 1;
// [] [0|0]
optional bool can_tx_comm_error = 2;
// [deg/s] [-128|127.9375]
optional double can_tx_yaw_rate_calc = 3;
// [m/s] [0|127.9375]
optional double can_tx_vehicle_speed_calc = 4;
// [] [0|65535]
optional int32 can_tx_scan_index = 5;
// [] [0|0]
optional int32 can_tx_rolling_count_1 = 6;
// [m] [-8192|8191]
optional int32 can_tx_radius_curvature_calc = 7;
}
message Esr_status2_4e1 {
// Report Message
enum Can_tx_raw_data_modeType {
CAN_TX_RAW_DATA_MODE_FILTERED = 0;
CAN_TX_RAW_DATA_MODE_RAW = 1;
}
enum Can_tx_range_perf_errorType {
CAN_TX_RANGE_PERF_ERROR_NOT_BLOCKED = 0;
CAN_TX_RANGE_PERF_ERROR_BLOCKED = 1;
}
enum Can_tx_overheat_errorType {
CAN_TX_OVERHEAT_ERROR_NOT_OVERTEMP = 0;
CAN_TX_OVERHEAT_ERROR_OVERTEMP = 1;
}
enum Can_tx_internal_errorType {
CAN_TX_INTERNAL_ERROR_NOT_FAILED = 0;
CAN_TX_INTERNAL_ERROR_FAILED = 1;
}
enum Can_tx_grouping_modeType {
CAN_TX_GROUPING_MODE_NO_GROUPING = 0;
CAN_TX_GROUPING_MODE_GROUP_MOVING_ONLY = 1;
CAN_TX_GROUPING_MODE_GROUP_STATIONARY_ONLY = 2;
CAN_TX_GROUPING_MODE_GROUP_MOVING_STATIONARY = 3;
}
enum Can_tx_xcvr_operationalType {
CAN_TX_XCVR_OPERATIONAL_OFF = 0;
CAN_TX_XCVR_OPERATIONAL_ON = 1;
}
// [] [-16|15.875]
optional double can_tx_yaw_rate_bias = 1;
// [] [0.9375|1.060546875]
optional double can_tx_veh_spd_comp_factor = 2;
// [] [0|0]
optional int32 can_tx_sw_version_dsp = 3;
// [degC] [-128|127]
optional int32 can_tx_temperature = 4;
// [] [0|0]
optional Can_tx_raw_data_modeType can_tx_raw_data_mode = 5;
// [] [0|0]
optional Can_tx_range_perf_errorType can_tx_range_perf_error = 6;
// [] [0|0]
optional Can_tx_overheat_errorType can_tx_overheat_error = 7;
// [] [1|64]
optional int32 can_tx_maximum_tracks_ack = 8;
// [] [0|0]
optional Can_tx_internal_errorType can_tx_internal_error = 9;
// [] [0|0]
optional Can_tx_grouping_modeType can_tx_grouping_mode = 10;
// [] [0|0]
optional Can_tx_xcvr_operationalType can_tx_xcvr_operational = 11;
// [deg] [0|2047]
optional int32 can_tx_steering_angle_ack = 12;
// [] [0|0]
optional int32 can_tx_rolling_count_2 = 13;
}
message Esr_status8_5e7 {
// Report Message
// [] [0|0]
optional int32 can_tx_history_fault_7 = 1;
// [] [0|0]
optional int32 can_tx_history_fault_6 = 2;
// [] [0|0]
optional int32 can_tx_history_fault_5 = 3;
// [] [0|0]
optional int32 can_tx_history_fault_4 = 4;
// [] [0|0]
optional int32 can_tx_history_fault_3 = 5;
// [] [0|0]
optional int32 can_tx_history_fault_2 = 6;
// [] [0|0]
optional int32 can_tx_history_fault_1 = 7;
// [] [0|0]
optional int32 can_tx_history_fault_0 = 8;
}
message Esr_status7_5e6 {
// Report Message
// [] [0|0]
optional int32 can_tx_active_fault_7 = 1;
// [] [0|0]
optional int32 can_tx_active_fault_6 = 2;
// [] [0|0]
optional int32 can_tx_active_fault_5 = 3;
// [] [0|0]
optional int32 can_tx_active_fault_4 = 4;
// [] [0|0]
optional int32 can_tx_active_fault_3 = 5;
// [] [0|0]
optional int32 can_tx_active_fault_2 = 6;
// [] [0|0]
optional int32 can_tx_active_fault_0 = 7;
// [] [0|0]
optional int32 can_tx_active_fault_1 = 8;
}
message Vehicle3_5f2 {
// Report Message
enum Can_rx_serv_align_typeType {
CAN_RX_SERV_ALIGN_TYPE_AUTO_OR_DEALER = 0;
CAN_RX_SERV_ALIGN_TYPE_VOLVO_SHORT_TRACK = 1;
}
enum Can_rx_serv_align_enableType {
CAN_RX_SERV_ALIGN_ENABLE_DISABLED = 0;
CAN_RX_SERV_ALIGN_ENABLE_ENABLED = 1;
}
enum Can_rx_auto_align_convergedType {
CAN_RX_AUTO_ALIGN_CONVERGED_NOT_CONVERGED = 0;
CAN_RX_AUTO_ALIGN_CONVERGED_CONVERGED = 1;
}
enum Can_rx_auto_align_disableType {
CAN_RX_AUTO_ALIGN_DISABLE_ENABLED = 0;
CAN_RX_AUTO_ALIGN_DISABLE_DISABLED = 1;
}
enum Can_rx_wheel_slipType {
CAN_RX_WHEEL_SLIP_NO_CONTROL = 0;
CAN_RX_WHEEL_SLIP_BRAKE_SLIP_CONTROL = 1;
CAN_RX_WHEEL_SLIP_TRACTION_SLIP_CONTROL = 2;
CAN_RX_WHEEL_SLIP_INVALID_3 = 3;
}
enum Can_rx_long_accel_validityType {
CAN_RX_LONG_ACCEL_VALIDITY_INVALID = 0;
CAN_RX_LONG_ACCEL_VALIDITY_VALID = 1;
}
enum Can_rx_lat_accel_validityType {
CAN_RX_LAT_ACCEL_VALIDITY_INVALID = 0;
CAN_RX_LAT_ACCEL_VALIDITY_VALID = 1;
}
// [] [0|0]
optional int32 can_rx_serv_align_updates_need = 1;
// [] [0|0]
optional Can_rx_serv_align_typeType can_rx_serv_align_type = 2;
// [] [0|0]
optional Can_rx_serv_align_enableType can_rx_serv_align_enable = 3;
// [] [250|2000]
optional double can_rx_aalign_avg_ctr_total = 4;
// [] [0|0]
optional Can_rx_auto_align_convergedType can_rx_auto_align_converged = 5;
// [] [0|0]
optional Can_rx_auto_align_disableType can_rx_auto_align_disable = 6;
// (+) = clockwise [deg] [-8|7.9375]
optional double can_rx_angle_mounting_offset = 7;
// [] [0|0]
optional Can_rx_wheel_slipType can_rx_wheel_slip = 8;
// [cm] [0|125]
optional int32 can_rx_radar_height = 9;
// [deg] [0|120]
optional int32 can_rx_radar_fov_mr = 10;
// [deg] [0|30]
optional int32 can_rx_radar_fov_lr = 11;
// [] [0|0]
optional Can_rx_long_accel_validityType can_rx_long_accel_validity = 12;
// [m/s/s] [-8|7.96875]
optional double can_rx_long_accel = 13;
// [] [0|0]
optional Can_rx_lat_accel_validityType can_rx_lat_accel_validity = 14;
// [] [-8|7.96875]
optional double can_rx_lat_accel = 15;
}
message Vehicle4_5f3 {
// Report Message
enum Can_rx_fac_align_cmd_2Type {
CAN_RX_FAC_ALIGN_CMD_2_OFF = 0;
CAN_RX_FAC_ALIGN_CMD_2_ON = 1;
}
enum Can_rx_fac_align_cmd_1Type {
CAN_RX_FAC_ALIGN_CMD_1_OFF = 0;
CAN_RX_FAC_ALIGN_CMD_1_ON = 1;
}
// [m] [2|10]
optional double can_rx_fac_tgt_range_r2m = 1;
// [m] [1|10]
optional double can_rx_fac_tgt_range_m2t = 2;
// [m] [2|10]
optional double can_rx_fac_tgt_range_1 = 3;
// [cm] [-100|100]
optional int32 can_rx_fac_tgt_mtg_space_ver = 4;
// [cm] [-100|100]
optional int32 can_rx_fac_tgt_mtg_space_hor = 5;
// [cm] [-100|100]
optional int32 can_rx_fac_tgt_mtg_offset = 6;
// [] [0|100]
optional int32 can_rx_fac_align_samp_req = 7;
// [] [0|100]
optional int32 can_rx_fac_align_max_nt = 8;
// [] [0|0]
optional Can_rx_fac_align_cmd_2Type can_rx_fac_align_cmd_2 = 9;
// [] [0|0]
optional Can_rx_fac_align_cmd_1Type can_rx_fac_align_cmd_1 = 10;
}
message Vehicle5_5f4 {
// Report Message
enum Can_rx_yaw_rate_bias_shiftType {
CAN_RX_YAW_RATE_BIAS_SHIFT_NO_DETECT = 0;
CAN_RX_YAW_RATE_BIAS_SHIFT_DETECT = 1;
}
// [] [0|0]
optional Can_rx_yaw_rate_bias_shiftType can_rx_yaw_rate_bias_shift = 1;
// [] [0|31.875]
optional double can_rx_steering_gear_ratio = 2;
// [cm] [200|710]
optional double can_rx_wheelbase = 3;
// [cm] [200|710]
optional double can_rx_distance_rear_axle = 4;
// [] [0|1.9921875]
optional double can_rx_cw_blockage_threshold = 5;
// [m] [-2|10]
optional double can_rx_funnel_offset_right = 6;
// [m] [-2|10]
optional double can_rx_funnel_offset_left = 7;
// [deg] [0|6]
optional double can_rx_beamwidth_vert = 8;
// [%] [-128|127]
optional int32 can_rx_oversteer_understeer = 9;
}
message Vehicle6_5f5 {
// Report Message
// [m] [-2|10]
optional double can_rx_inner_funnel_offset_right = 1;
// [m] [-2|10]
optional double can_rx_inner_funnel_offset_left = 2;
// [m] [0|255]
optional int32 can_volvo_fa_range_max_short = 3;
// [m/s] [0|20]
optional double can_volvo_fa_min_vspeed_short = 4;
// [deg] [0|10]
optional double can_volvo_fa_aalign_estimate = 5;
}
message DelphiESR {
optional apollo.common.Header header = 1;
optional Esr_status9_5e8 esr_status9_5e8 = 2; // report message
optional Esr_status6_5e5 esr_status6_5e5 = 3; // report message
optional Esr_status5_5e4 esr_status5_5e4 = 4; // report message
optional Esr_status3_4e2 esr_status3_4e2 = 5; // report message
optional Esr_status4_4e3 esr_status4_4e3 = 6; // report message
repeated Esr_trackmotionpower_540 esr_trackmotionpower_540 =
7; // report message
optional Acm_inst_req_7e0 acm_inst_req_7e0 = 8; // report message
repeated Esr_track01_500 esr_track01_500 = 9; // report message
optional Esr_valid1_5d0 esr_valid1_5d0 = 10; // report message
optional Esr_valid2_5d1 esr_valid2_5d1 = 11; // report message
optional Acm_inst_resp_7e4 acm_inst_resp_7e4 = 12; // report message
optional Vehicle2_4f1 vehicle2_4f1 = 13; // report message
optional Vehicle1_4f0 vehicle1_4f0 = 14; // report message
optional Esr_sim1_5c0 esr_sim1_5c0 = 15; // report message
optional Esr_status1_4e0 esr_status1_4e0 = 16; // report message
optional Esr_status2_4e1 esr_status2_4e1 = 17; // report message
optional Esr_status8_5e7 esr_status8_5e7 = 18; // report message
optional Esr_status7_5e6 esr_status7_5e6 = 19; // report message
optional Vehicle3_5f2 vehicle3_5f2 = 20; // report message
optional Vehicle4_5f3 vehicle4_5f3 = 21; // report message
optional Vehicle5_5f4 vehicle5_5f4 = 22; // report message
optional Vehicle6_5f5 vehicle6_5f5 = 23; // report message
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/ins.proto
|
syntax = "proto2";
package apollo.drivers.gnss;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
message InsStat {
optional apollo.common.Header header = 1;
optional uint32 ins_status = 2;
optional uint32 pos_type = 3;
}
// Solution from an inertial navigation system (INS), which usually fuses GNSS
// and IMU measurements.
message Ins {
optional apollo.common.Header header = 1;
// The time of position measurement, seconds since the GPS epoch (01/06/1980).
optional double measurement_time = 2; // In seconds.
// INS solution type.
enum Type {
// Do NOT use.
// Invalid solution due to insufficient observations, no initial GNSS, ...
INVALID = 0;
// Use with caution. The covariance matrix may be unavailable or incorrect.
// High-variance result due to aligning, insufficient vehicle dynamics, ...
CONVERGING = 1;
// Safe to use. The INS has fully converged.
GOOD = 2;
}
optional Type type = 3;
// Position of the IMU.
optional apollo.common.PointLLH position = 4;
// Roll/pitch/yaw that represents a rotation of the intrinsic sequence z-y-x.
// Note: our definition differs from what NovAtel and aviation use.
// Roll/pitch/yaw in radians.
optional apollo.common.Point3D euler_angles = 5;
// East/north/up in meters per second.
optional apollo.common.Point3D linear_velocity = 6;
// Around forward/left/up axes in radians per second.
optional apollo.common.Point3D angular_velocity = 7;
// Forward/left/up in meters per square second.
optional apollo.common.Point3D linear_acceleration = 8;
// The size of a covariance matrix field may be
// 3: then the elements are xx, yy, zz.
// 9: then the elements are xx, xy, xz, yx, yy, yz, zx, zy, zz.
// If the field size is not 3 or 9, treat the field invalid.
// 3-by-3 covariance matrix, in m^2.
repeated float position_covariance = 9 [packed = true];
// 3-by-3 covariance matrix, in rad^2.
repeated float euler_angles_covariance = 10 [packed = true];
// 3-by-3 covariance matrix, in m^2/s^2.
repeated float linear_velocity_covariance = 11 [packed = true];
// 3-by-3 covariance matrix, in rad^2/s^2.
repeated float angular_velocity_covariance = 12 [packed = true];
// 3-by-3 covariance matrix, in m^2/s^4.
repeated float linear_acceleration_covariance = 13 [packed = true];
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/BUILD
|
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "delphi_esr_cc_proto",
deps = [
":delphi_esr_proto",
],
)
proto_library(
name = "delphi_esr_proto",
srcs = ["delphi_esr.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "delphi_esr_py_pb2",
deps = [
":delphi_esr_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "sensor_image_cc_proto",
deps = [
":sensor_image_proto",
],
)
proto_library(
name = "sensor_image_proto",
srcs = ["sensor_image.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "sensor_image_py_pb2",
deps = [
":sensor_image_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "mobileye_cc_proto",
deps = [
":mobileye_proto",
],
)
proto_library(
name = "mobileye_proto",
srcs = ["mobileye.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "mobileye_py_pb2",
deps = [
":mobileye_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "ultrasonic_radar_cc_proto",
deps = [
":ultrasonic_radar_proto",
],
)
proto_library(
name = "ultrasonic_radar_proto",
srcs = ["ultrasonic_radar.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "ultrasonic_radar_py_pb2",
deps = [
":ultrasonic_radar_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "racobit_radar_cc_proto",
deps = [
":racobit_radar_proto",
],
)
proto_library(
name = "racobit_radar_proto",
srcs = ["racobit_radar.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "racobit_radar_py_pb2",
deps = [
":racobit_radar_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "conti_radar_cc_proto",
deps = [
":conti_radar_proto",
],
)
proto_library(
name = "conti_radar_proto",
srcs = ["conti_radar.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "conti_radar_py_pb2",
deps = [
":conti_radar_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "smartereye_cc_proto",
deps = [
":smartereye_proto",
],
)
proto_library(
name = "smartereye_proto",
srcs = ["smartereye.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "smartereye_py_pb2",
deps = [
":smartereye_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "pointcloud_cc_proto",
deps = [
":pointcloud_proto",
],
)
proto_library(
name = "pointcloud_proto",
srcs = ["pointcloud.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "pointcloud_py_pb2",
deps = [
":pointcloud_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "radar_cc_proto",
deps = [
":radar_proto",
],
)
proto_library(
name = "radar_proto",
srcs = ["radar.proto"],
deps = [
"//modules/common_msgs/basic_msgs:error_code_proto",
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "radar_py_pb2",
deps = [
":radar_proto",
"//modules/common_msgs/basic_msgs:error_code_py_pb2",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "gnss_best_pose_cc_proto",
deps = [
":gnss_best_pose_proto",
],
)
proto_library(
name = "gnss_best_pose_proto",
srcs = ["gnss_best_pose.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "gnss_best_pose_py_pb2",
deps = [
":gnss_best_pose_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "imu_cc_proto",
deps = [
":imu_proto",
],
)
proto_library(
name = "imu_proto",
srcs = ["imu.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "imu_py_pb2",
deps = [
":imu_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "heading_cc_proto",
deps = [
":heading_proto",
],
)
proto_library(
name = "heading_proto",
srcs = ["heading.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "heading_py_pb2",
deps = [
":heading_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "gnss_raw_observation_cc_proto",
deps = [
":gnss_raw_observation_proto",
],
)
proto_library(
name = "gnss_raw_observation_proto",
srcs = ["gnss_raw_observation.proto"],
)
py_proto_library(
name = "gnss_raw_observation_py_pb2",
deps = [
":gnss_raw_observation_proto",
],
)
cc_proto_library(
name = "gnss_cc_proto",
deps = [
":gnss_proto",
],
)
proto_library(
name = "gnss_proto",
srcs = ["gnss.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "gnss_py_pb2",
deps = [
":gnss_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "ins_cc_proto",
deps = [
":ins_proto",
],
)
proto_library(
name = "ins_proto",
srcs = ["ins.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "ins_py_pb2",
deps = [
":ins_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/heading.proto
|
syntax = "proto2";
package apollo.drivers.gnss;
import "modules/common_msgs/basic_msgs/header.proto";
message Heading {
optional apollo.common.Header header = 1;
optional double measurement_time = 2;
optional uint32 solution_status = 3;
optional uint32 position_type = 4;
optional float baseline_length = 5;
optional float heading = 6;
optional float pitch = 7;
optional float reserved = 8;
optional float heading_std_dev = 9;
optional float pitch_std_dev = 10;
optional bytes station_id = 11;
optional uint32 satellite_tracked_number = 12;
optional uint32 satellite_soulution_number = 13;
optional uint32 satellite_number_obs =
14; // Number of satellites above the elevation mask angle
optional uint32 satellite_number_multi =
15; // Number of satellites above the mask angle with L2
optional uint32 solution_source = 16;
optional uint32 extended_solution_status = 17;
optional uint32 galileo_beidou_sig_mask = 18;
optional uint32 gps_glonass_sig_mask = 19;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/mobileye.proto
|
syntax = "proto2";
package apollo.drivers;
import "modules/common_msgs/basic_msgs/header.proto";
message Lka_768 {
optional int32 lane_type = 1;
optional int32 quality = 2;
optional int32 model_degree = 3;
optional double position = 4;
optional double curvature = 5;
optional double curvature_derivative = 6;
optional double width_right_marking = 7;
}
message Num_76b {
optional int32 num_of_next_lane_mark_reported = 1;
}
message Aftermarket_669 {
optional int32 lane_conf_left = 1;
optional bool ldw_availability_left = 2;
optional int32 lane_type_left = 3;
optional double distance_to_lane_l = 4;
optional int32 lane_conf_right = 5;
optional bool ldw_availability_right = 6;
optional int32 lane_type_right = 7;
optional double distance_to_lane_r = 8;
}
message Lka_769 {
optional double heading_angle = 1;
optional double view_range = 2;
optional bool view_range_availability = 3;
}
message Reference_76a {
optional double ref_point_1_position = 1;
optional double ref_point_1_distance = 2;
optional bool ref_point_1_validity = 3;
optional double ref_point_2_position = 4;
optional double ref_point_2_distance = 5;
optional bool ref_point_2_validity = 6;
}
message Details_738 {
optional int32 num_obstacles = 1;
optional int32 timestamp = 2;
optional int32 application_version = 3;
optional int32 active_version_number_section = 4;
optional bool left_close_rang_cut_in = 5;
optional bool right_close_rang_cut_in = 6;
optional int32 go = 7;
optional int32 protocol_version = 8;
optional bool close_car = 9;
optional int32 failsafe = 10;
optional int32 reserved_10 = 11;
}
message Next_76c {
optional int32 lane_type = 1;
optional int32 quality = 2;
optional int32 model_degree = 3;
optional double position = 4;
optional double curvature = 5;
optional double curvature_derivative = 6;
optional double lane_mark_width = 7;
}
message Details_737 {
optional double lane_curvature = 1;
optional double lane_heading = 2;
optional bool ca_construction_area = 3;
optional bool right_ldw_availability = 4;
optional bool left_ldw_availability = 5;
optional bool reserved_1 = 6;
optional double yaw_angle = 7;
optional double pitch_angle = 8;
}
message Lka_767 {
optional double heading_angle = 1;
optional double view_range = 2;
optional bool view_range_availability = 3;
}
message Lka_766 {
optional int32 lane_type = 1;
optional int32 quality = 2;
optional int32 model_degree = 3;
optional double position = 4;
optional double curvature = 5;
optional double curvature_derivative = 6;
optional double width_left_marking = 7;
}
message Next_76d {
optional double heading_angle = 1;
optional double view_range = 2;
optional bool view_range_availability = 3;
}
message Details_739 {
optional int32 obstacle_id = 1;
optional double obstacle_pos_x = 2;
optional int32 reseved_2 = 3;
optional double obstacle_pos_y = 4;
optional int32 blinker_info = 5;
optional int32 cut_in_and_out = 6;
optional double obstacle_rel_vel_x = 7;
optional int32 obstacle_type = 8;
optional bool reserved_3 = 9;
optional int32 obstacle_status = 10;
optional bool obstacle_brake_lights = 11;
optional int32 reserved_4 = 12;
optional int32 obstacle_valid = 13;
}
message Details_73a {
optional double obstacle_length = 1;
optional double obstacle_width = 2;
optional int32 obstacle_age = 3;
optional int32 obstacle_lane = 4;
optional bool cipv_flag = 5;
optional bool reserved_5 = 6;
optional double radar_pos_x = 7;
optional double radar_vel_x = 8;
optional int32 radar_match_confidence = 9;
optional bool reserved_6 = 10;
optional int32 matched_radar_id = 11;
optional bool reserved_7 = 12;
}
message Details_73b {
optional double obstacle_angle_rate = 1;
optional double obstacle_scale_change = 2;
optional double object_accel_x = 3;
optional int32 reserved_8 = 4;
optional bool obstacle_replaced = 5;
optional int32 reserved_9 = 6;
optional double obstacle_angle = 7;
}
message Mobileye {
optional apollo.common.Header header = 1;
optional Aftermarket_669 aftermarket_669 = 2;
optional Details_737 details_737 = 3;
optional Details_738 details_738 = 4;
repeated Details_739 details_739 = 5;
repeated Details_73a details_73a = 6;
repeated Details_73b details_73b = 7;
optional Lka_766 lka_766 = 8;
optional Lka_767 lka_767 = 9;
optional Lka_768 lka_768 = 10;
optional Lka_769 lka_769 = 11;
optional Reference_76a reference_76a = 12;
optional Num_76b num_76b = 13;
repeated Next_76c next_76c = 14;
repeated Next_76d next_76d = 15;
}
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apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/gnss.proto
|
syntax = "proto2";
package apollo.drivers.gnss;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
// Solution from a Global Navigation Satellite System (GNSS) receiver without
// fused with any IMU.
message Gnss {
optional apollo.common.Header header = 1;
// The time of position measurement, seconds since the GPS epoch (Jan 6,
// 1980).
optional double measurement_time = 2; // In seconds.
// When velocity is computed from differentiating successive position
// computations, a non-zero latency is incurred. The velocity refers to the
// time measurement_time - velocity_latency.
// When velocity is computed using instantaneous Doppler frequency, there is
// no latency. We should have velocity_latency = 0.
optional float velocity_latency = 3 [default = 0.0]; // In seconds.
// Position of the GNSS antenna phase center.
optional apollo.common.PointLLH position = 4;
// East/north/up in meters.
optional apollo.common.Point3D position_std_dev = 5;
// East/north/up in meters per second.
optional apollo.common.Point3D linear_velocity = 6;
// East/north/up in meters per second.
optional apollo.common.Point3D linear_velocity_std_dev = 7;
optional int32 num_sats = 8; // Number of satellites in position solution.
// GNSS solution type.
enum Type {
// It is recommended not using the GNSS solution if solution type is INVALID
// or PROPAGATED.
INVALID = 0; // Invalid solution due to insufficient observations,
// integrity warning, etc.
PROPAGATED = 1; // Propagated by a Kalman filter without new observations.
// It is recommended using the following types of solution.
SINGLE = 2; // Standard GNSS solution without any corrections.
PSRDIFF = 3; // Pseudorange differential solution, including WAAS/SBAS
// solution.
PPP = 4; // Precise Point Positioning (PPP) solution.
RTK_FLOAT = 5; // Real Time Kinematic (RTK) float solution.
RTK_INTEGER = 6; // RTK integer solution.
}
optional Type type = 9;
optional uint32 solution_status = 10;
optional uint32 position_type = 11;
}
// gnss raw data
message RawData {
optional apollo.common.Header header = 1;
optional bytes data = 2;
}
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apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/ultrasonic_radar.proto
|
syntax = "proto2";
package apollo.drivers;
import "modules/common_msgs/basic_msgs/header.proto";
message Ultrasonic {
//
// x axis
// ^
// |
// * | *
// * | *
// \ * | * /
// \ * range(i) * /
// \ | /
// \ | /
// \ | /
// y axis \ | /
// <---------------
// ooooooooooooo //ultrasonic radar front surface
//
// In every working cycle, each radar of the ultrasonic system
// return a range to form a range array, 'ranges'.
optional apollo.common.Header header = 1;
repeated float ranges = 2;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/sensor_msgs/imu.proto
|
syntax = "proto2";
package apollo.drivers.gnss;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
// Measurements from an inertial measurement unit (IMU). The solution is with
// respect to the IMU by default.
message Imu {
optional apollo.common.Header header = 1;
// The time of IMU measurement, seconds since the GPS epoch (Jan 6, 1980).
optional double measurement_time = 2; // In seconds.
// When measurement_span is non-zero, the gyroscope and accelerometer
// measurements are averaged for the period from
// (measurement_time - measurement_span) to measurement_time. Usually,
// measurement_span = 1 / sampling_frequency.
//
// When measurement_span is 0, angular_velocity and linear_acceleration are
// instantaneous at measurement_time.
optional float measurement_span = 3 [default = 0.0]; // In seconds.
// Forward/left/up in meters per square second.
optional apollo.common.Point3D linear_acceleration = 4;
// Around forward/left/up axes in radians per second.
optional apollo.common.Point3D angular_velocity = 5;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/header.proto
|
syntax = "proto2";
package apollo.common;
import "modules/common_msgs/basic_msgs/error_code.proto";
message Header {
// Message publishing time in seconds.
optional double timestamp_sec = 1;
// Module name.
optional string module_name = 2;
// Sequence number for each message. Each module maintains its own counter for
// sequence_num, always starting from 1 on boot.
optional uint32 sequence_num = 3;
// Lidar Sensor timestamp for nano-second.
optional uint64 lidar_timestamp = 4;
// Camera Sensor timestamp for nano-second.
optional uint64 camera_timestamp = 5;
// Radar Sensor timestamp for nano-second.
optional uint64 radar_timestamp = 6;
// data version
optional uint32 version = 7 [default = 1];
optional StatusPb status = 8;
optional string frame_id = 9;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/vehicle_id.proto
|
syntax = "proto2";
package apollo.common;
message VehicleID {
optional string vin = 1;
optional string plate = 2;
optional string other_unique_id = 3;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/direction.proto
|
syntax = "proto2";
package apollo.common;
enum Direction {
EAST = 0;
WEST = 1;
SOUTH = 2;
NORTH = 3;
NORTHEAST = 4;
SOUTHEAST = 5;
SOUTHWEST = 6;
NORTHWEST = 7;
};
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/drive_event.proto
|
syntax = "proto2";
package apollo.common;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/localization_msgs/pose.proto";
message DriveEvent {
enum Type {
CRITICAL = 0;
PROBLEM = 1;
DESIRED = 2;
OUT_OF_SCOPE = 3;
}
optional apollo.common.Header header = 1;
optional string event = 2;
optional apollo.localization.Pose location = 3;
repeated Type type = 4;
optional bool is_reportable = 5;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/geometry.proto
|
syntax = "proto2";
package apollo.common;
// A point in the map reference frame. The map defines an origin, whose
// coordinate is (0, 0, 0).
// Most modules, including localization, perception, and prediction, generate
// results based on the map reference frame.
// Currently, the map uses Universal Transverse Mercator (UTM) projection. See
// the link below for the definition of map origin.
// https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system
// The z field of PointENU can be omitted. If so, it is a 2D location and we do
// not care its height.
message PointENU {
optional double x = 1 [default = nan]; // East from the origin, in meters.
optional double y = 2 [default = nan]; // North from the origin, in meters.
optional double z = 3 [default = 0.0]; // Up from the WGS-84 ellipsoid, in
// meters.
}
// A point in the global reference frame. Similar to PointENU, PointLLH allows
// omitting the height field for representing a 2D location.
message PointLLH {
// Longitude in degrees, ranging from -180 to 180.
optional double lon = 1 [default = nan];
// Latitude in degrees, ranging from -90 to 90.
optional double lat = 2 [default = nan];
// WGS-84 ellipsoid height in meters.
optional double height = 3 [default = 0.0];
}
// A general 2D point. Its meaning and units depend on context, and must be
// explained in comments.
message Point2D {
optional double x = 1 [default = nan];
optional double y = 2 [default = nan];
}
// A general 3D point. Its meaning and units depend on context, and must be
// explained in comments.
message Point3D {
optional double x = 1 [default = nan];
optional double y = 2 [default = nan];
optional double z = 3 [default = nan];
}
// A unit quaternion that represents a spatial rotation. See the link below for
// details.
// https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
// The scalar part qw can be omitted. In this case, qw should be calculated by
// qw = sqrt(1 - qx * qx - qy * qy - qz * qz).
message Quaternion {
optional double qx = 1 [default = nan];
optional double qy = 2 [default = nan];
optional double qz = 3 [default = nan];
optional double qw = 4 [default = nan];
}
// A general polygon, points are counter clockwise
message Polygon {
repeated Point3D point = 1;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/vehicle_signal.proto
|
syntax = "proto2";
package apollo.common;
message VehicleSignal {
enum TurnSignal {
TURN_NONE = 0;
TURN_LEFT = 1;
TURN_RIGHT = 2;
TURN_HAZARD_WARNING = 3;
};
optional TurnSignal turn_signal = 1;
// lights enable command
optional bool high_beam = 2;
optional bool low_beam = 3;
optional bool horn = 4;
optional bool emergency_light = 5;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/pnc_point.proto
|
syntax = "proto2";
// Defined Point types that are commonly used in PnC (Planning and Control)
// modules.
package apollo.common;
message SLPoint {
optional double s = 1;
optional double l = 2;
}
message FrenetFramePoint {
optional double s = 1;
optional double l = 2;
optional double dl = 3;
optional double ddl = 4;
}
message SpeedPoint {
optional double s = 1;
optional double t = 2;
// speed (m/s)
optional double v = 3;
// acceleration (m/s^2)
optional double a = 4;
// jerk (m/s^3)
optional double da = 5;
}
message PathPoint {
// coordinates
optional double x = 1;
optional double y = 2;
optional double z = 3;
// direction on the x-y plane
optional double theta = 4;
// curvature on the x-y planning
optional double kappa = 5;
// accumulated distance from beginning of the path
optional double s = 6;
// derivative of kappa w.r.t s.
optional double dkappa = 7;
// derivative of derivative of kappa w.r.t s.
optional double ddkappa = 8;
// The lane ID where the path point is on
optional string lane_id = 9;
// derivative of x and y w.r.t parametric parameter t in CosThetareferenceline
optional double x_derivative = 10;
optional double y_derivative = 11;
}
message Path {
optional string name = 1;
repeated PathPoint path_point = 2;
}
message TrajectoryPoint {
// path point
optional PathPoint path_point = 1;
// linear velocity
optional double v = 2; // in [m/s]
// linear acceleration
optional double a = 3;
// relative time from beginning of the trajectory
optional double relative_time = 4;
// longitudinal jerk
optional double da = 5;
// The angle between vehicle front wheel and vehicle longitudinal axis
optional double steer = 6;
// Gaussian probability information
optional GaussianInfo gaussian_info = 7;
}
message Trajectory {
optional string name = 1;
repeated TrajectoryPoint trajectory_point = 2;
}
message VehicleMotionPoint {
// trajectory point
optional TrajectoryPoint trajectory_point = 1;
// The angle between vehicle front wheel and vehicle longitudinal axis
optional double steer = 2;
}
message VehicleMotion {
optional string name = 1;
repeated VehicleMotionPoint vehicle_motion_point = 2;
}
message GaussianInfo {
// Information of gaussian distribution
optional double sigma_x = 1;
optional double sigma_y = 2;
optional double correlation = 3;
// Information of representative uncertainty area
optional double area_probability = 4;
optional double ellipse_a = 5;
optional double ellipse_b = 6;
optional double theta_a = 7;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/drive_state.proto
|
syntax = "proto2";
package apollo.common;
// This is the engage advice that published by critical runtime modules.
message EngageAdvice {
enum Advice {
UNKNOWN = 0;
DISALLOW_ENGAGE = 1;
READY_TO_ENGAGE = 2;
KEEP_ENGAGED = 3;
PREPARE_DISENGAGE = 4;
}
optional Advice advice = 1 [default = DISALLOW_ENGAGE];
optional string reason = 2;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "header_cc_proto",
deps = [
":header_proto",
],
)
proto_library(
name = "header_proto",
srcs = ["header.proto"],
deps = [
":error_code_proto",
],
)
py_proto_library(
name = "header_py_pb2",
deps = [
":header_proto",
":error_code_py_pb2",
],
)
cc_proto_library(
name = "vehicle_id_cc_proto",
deps = [
":vehicle_id_proto",
],
)
proto_library(
name = "vehicle_id_proto",
srcs = ["vehicle_id.proto"],
)
py_proto_library(
name = "vehicle_id_py_pb2",
deps = [
":vehicle_id_proto",
],
)
cc_proto_library(
name = "direction_cc_proto",
deps = [
":direction_proto",
],
)
proto_library(
name = "direction_proto",
srcs = ["direction.proto"],
)
py_proto_library(
name = "direction_py_pb2",
deps = [
":direction_proto",
],
)
cc_proto_library(
name = "drive_event_cc_proto",
deps = [
":drive_event_proto",
],
)
proto_library(
name = "drive_event_proto",
srcs = ["drive_event.proto"],
deps = [
":header_proto",
"//modules/common_msgs/localization_msgs:pose_proto",
],
)
py_proto_library(
name = "drive_event_py_pb2",
deps = [
":drive_event_proto",
":header_py_pb2",
"//modules/common_msgs/localization_msgs:pose_py_pb2",
],
)
cc_proto_library(
name = "geometry_cc_proto",
deps = [
":geometry_proto",
],
)
proto_library(
name = "geometry_proto",
srcs = ["geometry.proto"],
)
py_proto_library(
name = "geometry_py_pb2",
deps = [
":geometry_proto",
],
)
cc_proto_library(
name = "vehicle_signal_cc_proto",
deps = [
":vehicle_signal_proto",
],
)
proto_library(
name = "vehicle_signal_proto",
srcs = ["vehicle_signal.proto"],
)
py_proto_library(
name = "vehicle_signal_py_pb2",
deps = [
":vehicle_signal_proto",
],
)
cc_proto_library(
name = "pnc_point_cc_proto",
deps = [
":pnc_point_proto",
],
)
proto_library(
name = "pnc_point_proto",
srcs = ["pnc_point.proto"],
)
py_proto_library(
name = "pnc_point_py_pb2",
deps = [
":pnc_point_proto",
],
)
cc_proto_library(
name = "drive_state_cc_proto",
deps = [
":drive_state_proto",
],
)
proto_library(
name = "drive_state_proto",
srcs = ["drive_state.proto"],
)
py_proto_library(
name = "drive_state_py_pb2",
deps = [
":drive_state_proto",
],
)
cc_proto_library(
name = "error_code_cc_proto",
deps = [
":error_code_proto",
],
)
proto_library(
name = "error_code_proto",
srcs = ["error_code.proto"],
)
py_proto_library(
name = "error_code_py_pb2",
deps = [
":error_code_proto",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/basic_msgs/error_code.proto
|
syntax = "proto2";
package apollo.common;
// Error codes enum for API's categorized by modules.
enum ErrorCode {
// No error, returns on success.
OK = 0;
// Control module error codes start from here.
CONTROL_ERROR = 1000;
CONTROL_INIT_ERROR = 1001;
CONTROL_COMPUTE_ERROR = 1002;
CONTROL_ESTOP_ERROR = 1003;
PERFECT_CONTROL_ERROR = 1004;
// Canbus module error codes start from here.
CANBUS_ERROR = 2000;
CAN_CLIENT_ERROR_BASE = 2100;
CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;
CAN_CLIENT_ERROR_FRAME_NUM = 2102;
CAN_CLIENT_ERROR_SEND_FAILED = 2103;
CAN_CLIENT_ERROR_RECV_FAILED = 2104;
// Localization module error codes start from here.
LOCALIZATION_ERROR = 3000;
LOCALIZATION_ERROR_MSG = 3100;
LOCALIZATION_ERROR_LIDAR = 3200;
LOCALIZATION_ERROR_INTEG = 3300;
LOCALIZATION_ERROR_GNSS = 3400;
// Perception module error codes start from here.
PERCEPTION_ERROR = 4000;
PERCEPTION_ERROR_TF = 4001;
PERCEPTION_ERROR_PROCESS = 4002;
PERCEPTION_FATAL = 4003;
PERCEPTION_ERROR_NONE = 4004;
PERCEPTION_ERROR_UNKNOWN = 4005;
// Prediction module error codes start from here.
PREDICTION_ERROR = 5000;
// Planning module error codes start from here
PLANNING_ERROR = 6000;
PLANNING_ERROR_NOT_READY = 6001;
// HDMap module error codes start from here
HDMAP_DATA_ERROR = 7000;
// Routing module error codes
ROUTING_ERROR = 8000;
ROUTING_ERROR_REQUEST = 8001;
ROUTING_ERROR_RESPONSE = 8002;
ROUTING_ERROR_NOT_READY = 8003;
// Indicates an input has been exhausted.
END_OF_INPUT = 9000;
// HTTP request error codes.
HTTP_LOGIC_ERROR = 10000;
HTTP_RUNTIME_ERROR = 10001;
// Relative Map error codes.
RELATIVE_MAP_ERROR = 11000; // general relative map error code
RELATIVE_MAP_NOT_READY = 11001;
// Driver error codes.
DRIVER_ERROR_GNSS = 12000;
DRIVER_ERROR_VELODYNE = 13000;
// Storytelling error codes.
STORYTELLING_ERROR = 14000;
}
message StatusPb {
optional ErrorCode error_code = 1 [default = OK];
optional string msg = 2;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/routing_msgs/routing.proto
|
syntax = "proto2";
package apollo.routing;
import "modules/common_msgs/basic_msgs/error_code.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_parking_space.proto";
message LaneWaypoint {
optional string id = 1;
optional double s = 2;
optional apollo.common.PointENU pose = 3;
// When the developer selects a point on the dreamview route editing
// the direction can be specified by dragging the mouse
// dreamview calculates the heading based on this to support construct lane way point with heading
optional double heading = 4;
}
message LaneSegment {
optional string id = 1;
optional double start_s = 2;
optional double end_s = 3;
}
enum ParkingSpaceType {
VERTICAL_PLOT = 0;
PARALLEL_PARKING = 1;
}
enum DeadEndRoutingType {
ROUTING_OTHER = 0;
ROUTING_IN = 1;
ROUTING_OUT = 2;
}
message ParkingInfo {
optional string parking_space_id = 1;
optional apollo.common.PointENU parking_point = 2;
optional ParkingSpaceType parking_space_type = 3;
// The four corner points are in order.
optional apollo.hdmap.Polygon corner_point = 4;
}
message DeadEndInfo {
// dead end in/out routing
optional DeadEndRoutingType dead_end_routing_type = 1;
// traget point from the out routing's start point
optional apollo.common.PointENU target_point = 2;
}
message RoutingRequest {
optional apollo.common.Header header = 1;
// at least two points. The first is start point, the end is final point.
// The routing must go through each point in waypoint.
repeated LaneWaypoint waypoint = 2;
repeated LaneSegment blacklisted_lane = 3;
repeated string blacklisted_road = 4;
optional bool broadcast = 5 [default = true];
optional apollo.hdmap.ParkingSpace parking_space = 6 [deprecated = true];
optional ParkingInfo parking_info = 7;
optional DeadEndInfo dead_end_info = 8;
}
message Measurement {
optional double distance = 1;
}
enum ChangeLaneType {
FORWARD = 0;
LEFT = 1;
RIGHT = 2;
};
message Passage {
repeated LaneSegment segment = 1;
optional bool can_exit = 2;
optional ChangeLaneType change_lane_type = 3 [default = FORWARD];
}
message RoadSegment {
optional string id = 1;
repeated Passage passage = 2;
}
message RoutingResponse {
optional apollo.common.Header header = 1;
repeated RoadSegment road = 2;
optional Measurement measurement = 3;
optional RoutingRequest routing_request = 4;
// the map version which is used to build road graph
optional bytes map_version = 5;
optional apollo.common.StatusPb status = 6;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/routing_msgs/poi.proto
|
syntax = "proto2";
package apollo.routing;
import "modules/common_msgs/routing_msgs/routing.proto";
message Landmark {
optional string name = 1;
repeated LaneWaypoint waypoint = 2;
optional string parking_space_id = 3 [deprecated = true];
optional apollo.routing.ParkingInfo parking_info = 4;
}
message POI {
repeated Landmark landmark = 1;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/routing_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "routing_cc_proto",
deps = [
":routing_proto",
],
)
proto_library(
name = "routing_proto",
srcs = ["routing.proto"],
deps = [
"//modules/common_msgs/basic_msgs:error_code_proto",
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/map_msgs:map_geometry_proto",
"//modules/common_msgs/map_msgs:map_parking_space_proto",
],
)
py_proto_library(
name = "routing_py_pb2",
deps = [
":routing_proto",
"//modules/common_msgs/basic_msgs:error_code_py_pb2",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/map_msgs:map_geometry_py_pb2",
"//modules/common_msgs/map_msgs:map_parking_space_py_pb2",
],
)
cc_proto_library(
name = "poi_cc_proto",
deps = [
":poi_proto",
],
)
proto_library(
name = "poi_proto",
srcs = ["poi.proto"],
deps = [
":routing_proto",
],
)
py_proto_library(
name = "poi_py_pb2",
deps = [
":poi_proto",
":routing_py_pb2",
],
)
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_signal.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
message Subsignal {
enum Type {
UNKNOWN = 1;
CIRCLE = 2;
ARROW_LEFT = 3;
ARROW_FORWARD = 4;
ARROW_RIGHT = 5;
ARROW_LEFT_AND_FORWARD = 6;
ARROW_RIGHT_AND_FORWARD = 7;
ARROW_U_TURN = 8;
};
optional Id id = 1;
optional Type type = 2;
// Location of the center of the bulb. now no data support.
optional apollo.common.PointENU location = 3;
}
message SignInfo {
enum Type {
None = 0;
NO_RIGHT_TURN_ON_RED = 1;
};
optional Type type = 1;
}
message Signal {
enum Type {
UNKNOWN = 1;
MIX_2_HORIZONTAL = 2;
MIX_2_VERTICAL = 3;
MIX_3_HORIZONTAL = 4;
MIX_3_VERTICAL = 5;
SINGLE = 6;
};
optional Id id = 1;
optional Polygon boundary = 2;
repeated Subsignal subsignal = 3;
// TODO: add orientation. now no data support.
repeated Id overlap_id = 4;
optional Type type = 5;
// stop line
repeated Curve stop_line = 6;
repeated SignInfo sign_info = 7;
}
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apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_speed_control.proto
|
syntax = "proto2";
import "modules/common_msgs/map_msgs/map_geometry.proto";
package apollo.hdmap;
// This proto defines the format of an auxiliary file that helps to
// define the speed limit on certain area of road.
// Apollo can use this file to quickly fix speed problems on maps,
// instead of waiting for updating map data.
message SpeedControl {
optional string name = 1;
optional apollo.hdmap.Polygon polygon = 2;
optional double speed_limit = 3;
}
message SpeedControls {
repeated SpeedControl speed_control = 1;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_geometry.proto
|
syntax = "proto2";
import "modules/common_msgs/basic_msgs/geometry.proto";
package apollo.hdmap;
// Polygon, not necessary convex.
message Polygon {
repeated apollo.common.PointENU point = 1;
}
// Straight line segment.
message LineSegment {
repeated apollo.common.PointENU point = 1;
}
// Generalization of a line.
message CurveSegment {
oneof curve_type {
LineSegment line_segment = 1;
}
optional double s = 6; // start position (s-coordinate)
optional apollo.common.PointENU start_position = 7;
optional double heading = 8; // start orientation
optional double length = 9;
}
// An object similar to a line but that need not be straight.
message Curve {
repeated CurveSegment segment = 1;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_crosswalk.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
// Crosswalk is a place designated for pedestrians to cross a road.
message Crosswalk {
optional Id id = 1;
optional Polygon polygon = 2;
repeated Id overlap_id = 3;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_clear_area.proto";
import "modules/common_msgs/map_msgs/map_crosswalk.proto";
import "modules/common_msgs/map_msgs/map_junction.proto";
import "modules/common_msgs/map_msgs/map_lane.proto";
import "modules/common_msgs/map_msgs/map_overlap.proto";
import "modules/common_msgs/map_msgs/map_parking_space.proto";
import "modules/common_msgs/map_msgs/map_pnc_junction.proto";
import "modules/common_msgs/map_msgs/map_road.proto";
import "modules/common_msgs/map_msgs/map_rsu.proto";
import "modules/common_msgs/map_msgs/map_signal.proto";
import "modules/common_msgs/map_msgs/map_speed_bump.proto";
import "modules/common_msgs/map_msgs/map_stop_sign.proto";
import "modules/common_msgs/map_msgs/map_yield_sign.proto";
// This message defines how we project the ellipsoidal Earth surface to a plane.
message Projection {
// PROJ.4 setting:
// "+proj=tmerc +lat_0={origin.lat} +lon_0={origin.lon} +k={scale_factor}
// +ellps=WGS84 +no_defs"
optional string proj = 1;
}
message Header {
optional bytes version = 1;
optional bytes date = 2;
optional Projection projection = 3;
optional bytes district = 4;
optional bytes generation = 5;
optional bytes rev_major = 6;
optional bytes rev_minor = 7;
optional double left = 8;
optional double top = 9;
optional double right = 10;
optional double bottom = 11;
optional bytes vendor = 12;
}
message Map {
optional Header header = 1;
repeated Crosswalk crosswalk = 2;
repeated Junction junction = 3;
repeated Lane lane = 4;
repeated StopSign stop_sign = 5;
repeated Signal signal = 6;
repeated YieldSign yield = 7;
repeated Overlap overlap = 8;
repeated ClearArea clear_area = 9;
repeated SpeedBump speed_bump = 10;
repeated Road road = 11;
repeated ParkingSpace parking_space = 12;
repeated PNCJunction pnc_junction = 13;
repeated RSU rsu = 14;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_overlap.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
message LaneOverlapInfo {
optional double start_s = 1; // position (s-coordinate)
optional double end_s = 2; // position (s-coordinate)
optional bool is_merge = 3;
optional Id region_overlap_id = 4;
}
message SignalOverlapInfo {}
message StopSignOverlapInfo {}
message CrosswalkOverlapInfo {
optional Id region_overlap_id = 1;
}
message JunctionOverlapInfo {}
message YieldOverlapInfo {}
message ClearAreaOverlapInfo {}
message SpeedBumpOverlapInfo {}
message ParkingSpaceOverlapInfo {}
message PNCJunctionOverlapInfo {}
message RSUOverlapInfo {}
message RegionOverlapInfo {
optional Id id = 1;
repeated Polygon polygon = 2;
}
// Information about one object in the overlap.
message ObjectOverlapInfo {
optional Id id = 1;
oneof overlap_info {
LaneOverlapInfo lane_overlap_info = 3;
SignalOverlapInfo signal_overlap_info = 4;
StopSignOverlapInfo stop_sign_overlap_info = 5;
CrosswalkOverlapInfo crosswalk_overlap_info = 6;
JunctionOverlapInfo junction_overlap_info = 7;
YieldOverlapInfo yield_sign_overlap_info = 8;
ClearAreaOverlapInfo clear_area_overlap_info = 9;
SpeedBumpOverlapInfo speed_bump_overlap_info = 10;
ParkingSpaceOverlapInfo parking_space_overlap_info = 11;
PNCJunctionOverlapInfo pnc_junction_overlap_info = 12;
RSUOverlapInfo rsu_overlap_info = 13;
}
}
// Here, the "overlap" includes any pair of objects on the map
// (e.g. lanes, junctions, and crosswalks).
message Overlap {
optional Id id = 1;
// Information about one overlap, include all overlapped objects.
repeated ObjectOverlapInfo object = 2;
repeated RegionOverlapInfo region_overlap = 3;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_clear_area.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
// A clear area means in which stopping car is prohibited
message ClearArea {
optional Id id = 1;
repeated Id overlap_id = 2;
optional Polygon polygon = 3;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_rsu.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_id.proto";
message RSU {
optional Id id = 1;
optional Id junction_id = 2;
repeated Id overlap_id = 3;
};
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_road.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
message BoundaryEdge {
optional Curve curve = 1;
enum Type {
UNKNOWN = 0;
NORMAL = 1;
LEFT_BOUNDARY = 2;
RIGHT_BOUNDARY = 3;
};
optional Type type = 2;
}
message BoundaryPolygon {
repeated BoundaryEdge edge = 1;
}
// boundary with holes
message RoadBoundary {
optional BoundaryPolygon outer_polygon = 1;
// if boundary without hole, hole is null
repeated BoundaryPolygon hole = 2;
}
message RoadROIBoundary {
optional Id id = 1;
repeated RoadBoundary road_boundaries = 2;
}
// road section defines a road cross-section, At least one section must be
// defined in order to
// use a road, If multiple road sections are defined, they must be listed in
// order along the road
message RoadSection {
optional Id id = 1;
// lanes contained in this section
repeated Id lane_id = 2;
// boundary of section
optional RoadBoundary boundary = 3;
}
// The road is a collection of traffic elements, such as lanes, road boundary
// etc.
// It provides general information about the road.
message Road {
optional Id id = 1;
repeated RoadSection section = 2;
// if lane road not in the junction, junction id is null.
optional Id junction_id = 3;
enum Type {
UNKNOWN = 0;
HIGHWAY = 1;
CITY_ROAD = 2;
PARK = 3;
};
optional Type type = 4;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_parking_space.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
// ParkingSpace is a place designated to park a car.
message ParkingSpace {
optional Id id = 1;
optional Polygon polygon = 2;
repeated Id overlap_id = 3;
optional double heading = 4;
}
// ParkingLot is a place for parking cars.
message ParkingLot {
optional Id id = 1;
optional Polygon polygon = 2;
repeated Id overlap_id = 3;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_junction.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
// A junction is the junction at-grade of two or more roads crossing.
message Junction {
optional Id id = 1;
optional Polygon polygon = 2;
repeated Id overlap_id = 3;
enum Type {
UNKNOWN = 0;
IN_ROAD = 1;
CROSS_ROAD = 2;
FORK_ROAD = 3;
MAIN_SIDE = 4;
DEAD_END = 5;
};
optional Type type = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_id.proto
|
syntax = "proto2";
package apollo.hdmap;
// Global unique ids for all objects (include lanes, junctions, overlaps, etc).
message Id {
optional string id = 1;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_speed_bump.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
message SpeedBump {
optional Id id = 1;
repeated Id overlap_id = 2;
repeated Curve position = 3;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_yield_sign.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
// A yield indicates that each driver must prepare to stop if necessary to let a
// driver on another approach proceed.
// A driver who stops or slows down to let another vehicle through has yielded
// the right of way to that vehicle.
message YieldSign {
optional Id id = 1;
repeated Curve stop_line = 2;
repeated Id overlap_id = 3;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_stop_sign.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
// A stop sign is a traffic sign to notify drivers that they must stop before
// proceeding.
message StopSign {
optional Id id = 1;
repeated Curve stop_line = 2;
repeated Id overlap_id = 3;
enum StopType {
UNKNOWN = 0;
ONE_WAY = 1;
TWO_WAY = 2;
THREE_WAY = 3;
FOUR_WAY = 4;
ALL_WAY = 5;
};
optional StopType type = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_lane.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
message LaneBoundaryType {
enum Type {
UNKNOWN = 0;
DOTTED_YELLOW = 1;
DOTTED_WHITE = 2;
SOLID_YELLOW = 3;
SOLID_WHITE = 4;
DOUBLE_YELLOW = 5;
CURB = 6;
};
// Offset relative to the starting point of boundary
optional double s = 1;
// support multiple types
repeated Type types = 2;
}
message LaneBoundary {
optional Curve curve = 1;
optional double length = 2;
// indicate whether the lane boundary exists in real world
optional bool virtual = 3;
// in ascending order of s
repeated LaneBoundaryType boundary_type = 4;
}
// Association between central point to closest boundary.
message LaneSampleAssociation {
optional double s = 1;
optional double width = 2;
}
// A lane is part of a roadway, that is designated for use by a single line of
// vehicles.
// Most public roads (include highways) have more than two lanes.
message Lane {
optional Id id = 1;
// Central lane as reference trajectory, not necessary to be the geometry
// central.
optional Curve central_curve = 2;
// Lane boundary curve.
optional LaneBoundary left_boundary = 3;
optional LaneBoundary right_boundary = 4;
// in meters.
optional double length = 5;
// Speed limit of the lane, in meters per second.
optional double speed_limit = 6;
repeated Id overlap_id = 7;
// All lanes can be driving into (or from).
repeated Id predecessor_id = 8;
repeated Id successor_id = 9;
// Neighbor lanes on the same direction.
repeated Id left_neighbor_forward_lane_id = 10;
repeated Id right_neighbor_forward_lane_id = 11;
enum LaneType {
NONE = 1;
CITY_DRIVING = 2;
BIKING = 3;
SIDEWALK = 4;
PARKING = 5;
SHOULDER = 6;
};
optional LaneType type = 12;
enum LaneTurn {
NO_TURN = 1;
LEFT_TURN = 2;
RIGHT_TURN = 3;
U_TURN = 4;
};
optional LaneTurn turn = 13;
repeated Id left_neighbor_reverse_lane_id = 14;
repeated Id right_neighbor_reverse_lane_id = 15;
optional Id junction_id = 16;
// Association between central point to closest boundary.
repeated LaneSampleAssociation left_sample = 17;
repeated LaneSampleAssociation right_sample = 18;
enum LaneDirection {
FORWARD = 1;
BACKWARD = 2;
BIDIRECTION = 3;
}
optional LaneDirection direction = 19;
// Association between central point to closest road boundary.
repeated LaneSampleAssociation left_road_sample = 20;
repeated LaneSampleAssociation right_road_sample = 21;
repeated Id self_reverse_lane_id = 22;
}
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apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "map_signal_cc_proto",
deps = [
":map_signal_proto",
],
)
proto_library(
name = "map_signal_proto",
srcs = ["map_signal.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_signal_py_pb2",
deps = [
":map_signal_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_speed_control_cc_proto",
deps = [
":map_speed_control_proto",
],
)
proto_library(
name = "map_speed_control_proto",
srcs = ["map_speed_control.proto"],
deps = [
":map_geometry_proto",
],
)
py_proto_library(
name = "map_speed_control_py_pb2",
deps = [
":map_speed_control_proto",
":map_geometry_py_pb2",
],
)
cc_proto_library(
name = "map_geometry_cc_proto",
deps = [
":map_geometry_proto",
],
)
proto_library(
name = "map_geometry_proto",
srcs = ["map_geometry.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
],
)
py_proto_library(
name = "map_geometry_py_pb2",
deps = [
":map_geometry_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
],
)
cc_proto_library(
name = "map_crosswalk_cc_proto",
deps = [
":map_crosswalk_proto",
],
)
proto_library(
name = "map_crosswalk_proto",
srcs = ["map_crosswalk.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_crosswalk_py_pb2",
deps = [
":map_crosswalk_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_cc_proto",
deps = [
":map_proto",
],
)
proto_library(
name = "map_proto",
srcs = ["map.proto"],
deps = [
":map_clear_area_proto",
":map_crosswalk_proto",
":map_junction_proto",
":map_lane_proto",
":map_overlap_proto",
":map_parking_space_proto",
":map_pnc_junction_proto",
":map_road_proto",
":map_rsu_proto",
":map_signal_proto",
":map_speed_bump_proto",
":map_stop_sign_proto",
":map_yield_sign_proto",
],
)
py_proto_library(
name = "map_py_pb2",
deps = [
":map_proto",
":map_clear_area_py_pb2",
":map_crosswalk_py_pb2",
":map_junction_py_pb2",
":map_lane_py_pb2",
":map_overlap_py_pb2",
":map_parking_space_py_pb2",
":map_pnc_junction_py_pb2",
":map_road_py_pb2",
":map_rsu_py_pb2",
":map_signal_py_pb2",
":map_speed_bump_py_pb2",
":map_stop_sign_py_pb2",
":map_yield_sign_py_pb2",
],
)
cc_proto_library(
name = "map_overlap_cc_proto",
deps = [
":map_overlap_proto",
],
)
proto_library(
name = "map_overlap_proto",
srcs = ["map_overlap.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_overlap_py_pb2",
deps = [
":map_overlap_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_clear_area_cc_proto",
deps = [
":map_clear_area_proto",
],
)
proto_library(
name = "map_clear_area_proto",
srcs = ["map_clear_area.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_clear_area_py_pb2",
deps = [
":map_clear_area_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_rsu_cc_proto",
deps = [
":map_rsu_proto",
],
)
proto_library(
name = "map_rsu_proto",
srcs = ["map_rsu.proto"],
deps = [
":map_id_proto",
],
)
py_proto_library(
name = "map_rsu_py_pb2",
deps = [
":map_rsu_proto",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_road_cc_proto",
deps = [
":map_road_proto",
],
)
proto_library(
name = "map_road_proto",
srcs = ["map_road.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_road_py_pb2",
deps = [
":map_road_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_parking_space_cc_proto",
deps = [
":map_parking_space_proto",
],
)
proto_library(
name = "map_parking_space_proto",
srcs = ["map_parking_space.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_parking_space_py_pb2",
deps = [
":map_parking_space_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_junction_cc_proto",
deps = [
":map_junction_proto",
],
)
proto_library(
name = "map_junction_proto",
srcs = ["map_junction.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_junction_py_pb2",
deps = [
":map_junction_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_id_cc_proto",
deps = [
":map_id_proto",
],
)
proto_library(
name = "map_id_proto",
srcs = ["map_id.proto"],
)
py_proto_library(
name = "map_id_py_pb2",
deps = [
":map_id_proto",
],
)
cc_proto_library(
name = "map_speed_bump_cc_proto",
deps = [
":map_speed_bump_proto",
],
)
proto_library(
name = "map_speed_bump_proto",
srcs = ["map_speed_bump.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_speed_bump_py_pb2",
deps = [
":map_speed_bump_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_yield_sign_cc_proto",
deps = [
":map_yield_sign_proto",
],
)
proto_library(
name = "map_yield_sign_proto",
srcs = ["map_yield_sign.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_yield_sign_py_pb2",
deps = [
":map_yield_sign_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_stop_sign_cc_proto",
deps = [
":map_stop_sign_proto",
],
)
proto_library(
name = "map_stop_sign_proto",
srcs = ["map_stop_sign.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_stop_sign_py_pb2",
deps = [
":map_stop_sign_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_lane_cc_proto",
deps = [
":map_lane_proto",
],
)
proto_library(
name = "map_lane_proto",
srcs = ["map_lane.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_lane_py_pb2",
deps = [
":map_lane_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
cc_proto_library(
name = "map_pnc_junction_cc_proto",
deps = [
":map_pnc_junction_proto",
],
)
proto_library(
name = "map_pnc_junction_proto",
srcs = ["map_pnc_junction.proto"],
deps = [
":map_geometry_proto",
":map_id_proto",
],
)
py_proto_library(
name = "map_pnc_junction_py_pb2",
deps = [
":map_pnc_junction_proto",
":map_geometry_py_pb2",
":map_id_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/map_msgs/map_pnc_junction.proto
|
syntax = "proto2";
package apollo.hdmap;
import "modules/common_msgs/map_msgs/map_geometry.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
message Passage {
optional Id id = 1;
repeated Id signal_id = 2;
repeated Id yield_id = 3;
repeated Id stop_sign_id = 4;
repeated Id lane_id = 5;
enum Type {
UNKNOWN = 0;
ENTRANCE = 1;
EXIT = 2;
};
optional Type type = 6;
};
message PassageGroup {
optional Id id = 1;
repeated Passage passage = 2;
};
message PNCJunction {
optional Id id = 1;
optional Polygon polygon = 2;
repeated Id overlap_id = 3;
repeated PassageGroup passage_group = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/guardian_msgs/guardian.proto
|
syntax = "proto2";
package apollo.guardian;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/control_msgs/control_cmd.proto";
message GuardianCommand {
optional apollo.common.Header header = 1;
optional apollo.control.ControlCommand control_command = 2;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/guardian_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "guardian_cc_proto",
deps = [
":guardian_proto",
],
)
proto_library(
name = "guardian_proto",
srcs = ["guardian.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/control_msgs:control_cmd_proto",
],
)
py_proto_library(
name = "guardian_py_pb2",
deps = [
":guardian_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/control_msgs:control_cmd_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/control_msgs/control_cmd.proto
|
syntax = "proto2";
package apollo.control;
import "modules/common_msgs/basic_msgs/drive_state.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/basic_msgs/vehicle_signal.proto";
import "modules/common_msgs/chassis_msgs/chassis.proto";
import "modules/common_msgs/control_msgs/input_debug.proto";
import "modules/common_msgs/control_msgs/pad_msg.proto";
enum TurnSignal {
TURN_NONE = 0;
TURN_LEFT = 1;
TURN_RIGHT = 2;
}
message LatencyStats {
optional double total_time_ms = 1;
repeated double controller_time_ms = 2;
optional bool total_time_exceeded = 3;
}
// next id : 27
message ControlCommand {
optional apollo.common.Header header = 1;
// target throttle in percentage [0, 100]
optional double throttle = 3;
// target brake in percentage [0, 100]
optional double brake = 4;
// target non-directional steering rate, in percentage of full scale per
// second [0, 100]
optional double steering_rate = 6;
// target steering angle, in percentage of full scale [-100, 100]
optional double steering_target = 7;
// parking brake engage. true: engaged
optional bool parking_brake = 8;
// target speed, in m/s
optional double speed = 9;
// target acceleration in m`s^-2
optional double acceleration = 10;
// model reset
optional bool reset_model = 16 [deprecated = true];
// engine on/off, true: engine on
optional bool engine_on_off = 17;
// completion percentage of trajectory planned in last cycle
optional double trajectory_fraction = 18;
optional apollo.canbus.Chassis.DrivingMode driving_mode = 19
[deprecated = true];
optional apollo.canbus.Chassis.GearPosition gear_location = 20;
optional Debug debug = 22;
optional apollo.common.VehicleSignal signal = 23;
optional LatencyStats latency_stats = 24;
optional PadMessage pad_msg = 25;
optional apollo.common.EngageAdvice engage_advice = 26;
optional bool is_in_safe_mode = 27 [default = false];
// deprecated fields
optional bool left_turn = 13 [deprecated = true];
optional bool right_turn = 14 [deprecated = true];
optional bool high_beam = 11 [deprecated = true];
optional bool low_beam = 12 [deprecated = true];
optional bool horn = 15 [deprecated = true];
optional TurnSignal turnsignal = 21 [deprecated = true];
}
message SimpleLongitudinalDebug {
optional double station_reference = 1;
optional double station_error = 2;
optional double station_error_limited = 3;
optional double preview_station_error = 4;
optional double speed_reference = 5;
optional double speed_error = 6;
optional double speed_controller_input_limited = 7;
optional double preview_speed_reference = 8;
optional double preview_speed_error = 9;
optional double preview_acceleration_reference = 10;
optional double acceleration_cmd_closeloop = 11;
optional double acceleration_cmd = 12;
optional double acceleration_lookup = 13;
optional double speed_lookup = 14;
optional double calibration_value = 15;
optional double throttle_cmd = 16;
optional double brake_cmd = 17;
optional bool is_full_stop = 18;
optional double slope_offset_compensation = 19;
optional double current_station = 20;
optional double path_remain = 21;
optional int32 pid_saturation_status = 22;
optional int32 leadlag_saturation_status = 23;
optional double speed_offset = 24;
optional double current_speed = 25;
optional double acceleration_reference = 26;
optional double current_acceleration = 27;
optional double acceleration_error = 28;
optional double jerk_reference = 29;
optional double current_jerk = 30;
optional double jerk_error = 31;
optional apollo.common.TrajectoryPoint current_matched_point = 32;
optional apollo.common.TrajectoryPoint current_reference_point = 33;
optional apollo.common.TrajectoryPoint preview_reference_point = 34;
optional double acceleration_lookup_limit = 35;
}
message SimpleLateralDebug {
optional double lateral_error = 1;
optional double ref_heading = 2;
optional double heading = 3;
optional double heading_error = 4;
optional double heading_error_rate = 5;
optional double lateral_error_rate = 6;
optional double curvature = 7;
optional double steer_angle = 8;
optional double steer_angle_feedforward = 9;
optional double steer_angle_lateral_contribution = 10;
optional double steer_angle_lateral_rate_contribution = 11;
optional double steer_angle_heading_contribution = 12;
optional double steer_angle_heading_rate_contribution = 13;
optional double steer_angle_feedback = 14;
optional double steering_position = 15;
optional double ref_speed = 16;
optional double steer_angle_limited = 17;
// time derivative of lateral error rate, in m/s^2
optional double lateral_acceleration = 18;
// second time derivative of lateral error rate, in m/s^3
optional double lateral_jerk = 19;
optional double ref_heading_rate = 20;
optional double heading_rate = 21;
// heading_acceleration, as known as yaw acceleration, is the time derivative
// of heading rate, in rad/s^2
optional double ref_heading_acceleration = 22;
optional double heading_acceleration = 23;
optional double heading_error_acceleration = 24;
// heading_jerk, as known as yaw jerk, is the second time derivative of
// heading rate, in rad/s^3
optional double ref_heading_jerk = 25;
optional double heading_jerk = 26;
optional double heading_error_jerk = 27;
// modified lateral_error and heading_error with look-ahead or look-back
// station, as the feedback term for control usage
optional double lateral_error_feedback = 28;
optional double heading_error_feedback = 29;
// current planning target point
optional apollo.common.TrajectoryPoint current_target_point = 30;
// Augmented feedback control term in addition to LQR control
optional double steer_angle_feedback_augment = 31;
// Mrac control status and feedback states for steer control
optional MracDebug steer_mrac_debug = 32;
optional bool steer_mrac_enable_status = 33;
}
message SimpleMPCDebug {
optional double lateral_error = 1;
optional double ref_heading = 2;
optional double heading = 3;
optional double heading_error = 4;
optional double heading_error_rate = 5;
optional double lateral_error_rate = 6;
optional double curvature = 7;
optional double steer_angle = 8;
optional double steer_angle_feedforward = 9;
optional double steer_angle_lateral_contribution = 10;
optional double steer_angle_lateral_rate_contribution = 11;
optional double steer_angle_heading_contribution = 12;
optional double steer_angle_heading_rate_contribution = 13;
optional double steer_angle_feedback = 14;
optional double steering_position = 15;
optional double ref_speed = 16;
optional double steer_angle_limited = 17;
optional double station_reference = 18;
optional double station_error = 19;
optional double speed_reference = 20;
optional double speed_error = 21;
optional double acceleration_reference = 22;
optional bool is_full_stop = 23;
optional double station_feedback = 24;
optional double speed_feedback = 25;
optional double acceleration_cmd_closeloop = 26;
optional double acceleration_cmd = 27;
optional double acceleration_lookup = 28;
optional double speed_lookup = 29;
optional double calibration_value = 30;
optional double steer_unconstrained_control_diff = 31;
optional double steer_angle_feedforward_compensation = 32;
repeated double matrix_q_updated = 33; // matrix_q_updated_ size = 6
repeated double matrix_r_updated = 34; // matrix_r_updated_ size = 2
// time derivative of lateral error rate, in m/s^2
optional double lateral_acceleration = 35;
// second time derivative of lateral error rate, in m/s^3
optional double lateral_jerk = 36;
optional double ref_heading_rate = 37;
optional double heading_rate = 38;
// heading_acceleration, as known as yaw acceleration, is the time derivative
// of heading rate, in rad/s^2
optional double ref_heading_acceleration = 39;
optional double heading_acceleration = 40;
optional double heading_error_acceleration = 41;
// heading_jerk, as known as yaw jerk, is the second time derivative of
// heading rate, in rad/s^3
optional double ref_heading_jerk = 42;
optional double heading_jerk = 43;
optional double heading_error_jerk = 44;
optional double acceleration_feedback = 45;
optional double acceleration_error = 46;
optional double jerk_reference = 47;
optional double jerk_feedback = 48;
optional double jerk_error = 49;
}
message MracDebug {
optional int32 mrac_model_order = 1;
repeated double mrac_reference_state = 2;
repeated double mrac_state_error = 3;
optional MracAdaptiveGain mrac_adaptive_gain = 4;
optional int32 mrac_reference_saturation_status = 5;
optional int32 mrac_control_saturation_status = 6;
}
message MracAdaptiveGain {
repeated double state_adaptive_gain = 1;
repeated double input_adaptive_gain = 2;
repeated double nonlinear_adaptive_gain = 3;
}
message Debug {
optional SimpleLongitudinalDebug simple_lon_debug = 1;
optional SimpleLateralDebug simple_lat_debug = 2;
optional InputDebug input_debug = 3;
optional SimpleMPCDebug simple_mpc_debug = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/control_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "control_cmd_cc_proto",
deps = [
":control_cmd_proto",
],
)
proto_library(
name = "control_cmd_proto",
srcs = ["control_cmd.proto"],
deps = [
"//modules/common_msgs/basic_msgs:drive_state_proto",
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/basic_msgs:pnc_point_proto",
"//modules/common_msgs/basic_msgs:vehicle_signal_proto",
"//modules/common_msgs/chassis_msgs:chassis_proto",
":input_debug_proto",
":pad_msg_proto",
],
)
py_proto_library(
name = "control_cmd_py_pb2",
deps = [
":control_cmd_proto",
"//modules/common_msgs/basic_msgs:drive_state_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/basic_msgs:pnc_point_py_pb2",
"//modules/common_msgs/basic_msgs:vehicle_signal_py_pb2",
"//modules/common_msgs/chassis_msgs:chassis_py_pb2",
":input_debug_py_pb2",
":pad_msg_py_pb2",
],
)
cc_proto_library(
name = "pad_msg_cc_proto",
deps = [
":pad_msg_proto",
],
)
proto_library(
name = "pad_msg_proto",
srcs = ["pad_msg.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/chassis_msgs:chassis_proto",
],
)
py_proto_library(
name = "pad_msg_py_pb2",
deps = [
":pad_msg_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/chassis_msgs:chassis_py_pb2",
],
)
cc_proto_library(
name = "input_debug_cc_proto",
deps = [
":input_debug_proto",
],
)
proto_library(
name = "input_debug_proto",
srcs = ["input_debug.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "input_debug_py_pb2",
deps = [
":input_debug_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/control_msgs/pad_msg.proto
|
syntax = "proto2";
package apollo.control;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/chassis_msgs/chassis.proto";
enum DrivingAction {
STOP = 0;
START = 1;
RESET = 2;
VIN_REQ = 3;
};
message PadMessage {
// control mode, set mode according to low level definition
optional apollo.common.Header header = 1;
// send driving mode to drive
optional apollo.canbus.Chassis.DrivingMode driving_mode = 2;
// action in the driving_mode
optional DrivingAction action = 3;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/control_msgs/input_debug.proto
|
syntax = "proto2";
package apollo.control;
import "modules/common_msgs/basic_msgs/header.proto";
message InputDebug {
optional apollo.common.Header localization_header = 1;
optional apollo.common.Header canbus_header = 2;
optional apollo.common.Header trajectory_header = 3;
optional apollo.common.Header latest_replan_trajectory_header = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/perception_msgs/traffic_light_detection.proto
|
syntax = "proto2";
package apollo.perception;
import "modules/common_msgs/basic_msgs/header.proto";
message TrafficLightBox {
optional int32 x = 1;
optional int32 y = 2;
optional int32 width = 3;
optional int32 height = 4;
optional TrafficLight.Color color = 5;
optional bool selected = 6;
optional string camera_name = 7;
}
message TrafficLightDebug {
optional TrafficLightBox cropbox = 1;
repeated TrafficLightBox box = 2;
optional int32 signal_num = 3;
optional int32 valid_pos = 4;
optional double ts_diff_pos = 5;
optional double ts_diff_sys = 6;
optional int32 project_error = 7;
optional double distance_to_stop_line = 8;
optional int32 camera_id = 9 [deprecated = true];
repeated TrafficLightBox crop_roi = 10;
repeated TrafficLightBox projected_roi = 11;
repeated TrafficLightBox rectified_roi = 12;
repeated TrafficLightBox debug_roi = 13;
}
message TrafficLight {
enum Color {
UNKNOWN = 0;
RED = 1;
YELLOW = 2;
GREEN = 3;
BLACK = 4;
};
optional Color color = 1;
// Traffic light string-ID in the map data.
optional string id = 2;
// How confidence about the detected results, between 0 and 1.
optional double confidence = 3 [default = 1.0];
// Duration of the traffic light since detected.
optional double tracking_time = 4;
// Is traffic blinking
optional bool blink = 5;
// v2x traffic light remaining time.
optional double remaining_time = 6;
}
message TrafficLightDetection {
optional apollo.common.Header header = 2;
repeated TrafficLight traffic_light = 1;
optional TrafficLightDebug traffic_light_debug = 3;
optional bool contain_lights = 4;
enum CameraID {
CAMERA_FRONT_LONG = 0;
CAMERA_FRONT_NARROW = 1;
CAMERA_FRONT_SHORT = 2;
CAMERA_FRONT_WIDE = 3;
};
optional CameraID camera_id = 5;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/perception_msgs/perception_obstacle.proto
|
syntax = "proto2";
package apollo.perception;
import "modules/common_msgs/basic_msgs/error_code.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/map_msgs/map_lane.proto";
message BBox2D {
optional double xmin = 1; // in pixels.
optional double ymin = 2; // in pixels.
optional double xmax = 3; // in pixels.
optional double ymax = 4; // in pixels.
}
message LightStatus {
optional double brake_visible = 1;
optional double brake_switch_on = 2;
optional double left_turn_visible = 3;
optional double left_turn_switch_on = 4;
optional double right_turn_visible = 5;
optional double right_turn_switch_on = 6;
}
message V2XInformation {
enum V2XType {
NONE = 0;
ZOMBIES_CAR = 1;
BLIND_ZONE = 2;
};
repeated V2XType v2x_type = 1;
}
message SensorMeasurement {
optional string sensor_id = 1;
optional int32 id = 2;
optional apollo.common.Point3D position = 3;
optional double theta = 4;
optional double length = 5;
optional double width = 6;
optional double height = 7;
optional apollo.common.Point3D velocity = 8;
optional PerceptionObstacle.Type type = 9;
optional PerceptionObstacle.SubType sub_type = 10;
optional double timestamp = 11;
optional BBox2D box = 12; // only for camera measurements
}
message Trajectory {
optional double probability = 1; // probability of this trajectory
repeated apollo.common.TrajectoryPoint trajectory_point = 2;
}
message DebugMessage {
// can have multiple trajectories per obstacle
repeated Trajectory trajectory = 1;
}
message PerceptionObstacle {
optional int32 id = 1; // obstacle ID.
// obstacle position in the world coordinate system.
optional apollo.common.Point3D position = 2;
optional double theta = 3; // heading in the world coordinate system.
optional apollo.common.Point3D velocity = 4; // obstacle velocity.
// Size of obstacle bounding box.
optional double length = 5; // obstacle length.
optional double width = 6; // obstacle width.
optional double height = 7; // obstacle height.
repeated apollo.common.Point3D polygon_point = 8; // obstacle corner points.
// duration of an obstacle since detection in s.
optional double tracking_time = 9;
enum Type {
UNKNOWN = 0;
UNKNOWN_MOVABLE = 1;
UNKNOWN_UNMOVABLE = 2;
PEDESTRIAN = 3; // Pedestrian, usually determined by moving behavior.
BICYCLE = 4; // bike, motor bike
VEHICLE = 5; // Passenger car or truck.
};
optional Type type = 10; // obstacle type
optional double timestamp = 11; // GPS time in seconds.
// Just for offline debugging, will not fill this field on board.
// Format: [x0, y0, z0, x1, y1, z1...]
repeated double point_cloud = 12 [packed = true];
optional double confidence = 13 [deprecated = true];
enum ConfidenceType {
CONFIDENCE_UNKNOWN = 0;
CONFIDENCE_CNN = 1;
CONFIDENCE_RADAR = 2;
};
optional ConfidenceType confidence_type = 14 [deprecated = true];
// trajectory of object.
repeated apollo.common.Point3D drops = 15 [deprecated = true];
// The following fields are new added in Apollo 4.0
optional apollo.common.Point3D acceleration = 16; // obstacle acceleration
// a stable obstacle point in the world coordinate system
// position defined above is the obstacle bounding box ground center
optional apollo.common.Point3D anchor_point = 17;
optional BBox2D bbox2d = 18;
enum SubType {
ST_UNKNOWN = 0;
ST_UNKNOWN_MOVABLE = 1;
ST_UNKNOWN_UNMOVABLE = 2;
ST_CAR = 3;
ST_VAN = 4;
ST_TRUCK = 5;
ST_BUS = 6;
ST_CYCLIST = 7;
ST_MOTORCYCLIST = 8;
ST_TRICYCLIST = 9;
ST_PEDESTRIAN = 10;
ST_TRAFFICCONE = 11;
};
optional SubType sub_type = 19; // obstacle sub_type
repeated SensorMeasurement measurements = 20; // sensor measurements
// orthogonal distance between obstacle lowest point and ground plane
optional double height_above_ground = 21 [default = nan];
// position covariance which is a row-majored 3x3 matrix
repeated double position_covariance = 22 [packed = true];
// velocity covariance which is a row-majored 3x3 matrix
repeated double velocity_covariance = 23 [packed = true];
// acceleration covariance which is a row-majored 3x3 matrix
repeated double acceleration_covariance = 24 [packed = true];
// lights of vehicles
optional LightStatus light_status = 25;
// Debug Message
optional DebugMessage msg = 26;
enum Source {
HOST_VEHICLE = 0;
V2X = 1;
};
optional Source source = 27 [default = HOST_VEHICLE];
optional V2XInformation v2x_info = 28;
}
message LaneMarker {
optional apollo.hdmap.LaneBoundaryType.Type lane_type = 1;
optional double quality = 2; // range = [0,1]; 1 = the best quality
optional int32 model_degree = 3;
// equation X = c3 * Z^3 + c2 * Z^2 + c1 * Z + c0
optional double c0_position = 4;
optional double c1_heading_angle = 5;
optional double c2_curvature = 6;
optional double c3_curvature_derivative = 7;
optional double view_range = 8;
optional double longitude_start = 9;
optional double longitude_end = 10;
}
message LaneMarkers {
optional LaneMarker left_lane_marker = 1;
optional LaneMarker right_lane_marker = 2;
repeated LaneMarker next_left_lane_marker = 3;
repeated LaneMarker next_right_lane_marker = 4;
}
message CIPVInfo {
optional int32 cipv_id = 1;
repeated int32 potential_cipv_id = 2;
}
message PerceptionObstacles {
repeated PerceptionObstacle perception_obstacle = 1; // An array of obstacles
optional apollo.common.Header header = 2; // Header
optional apollo.common.ErrorCode error_code = 3 [default = OK];
optional LaneMarkers lane_marker = 4;
optional CIPVInfo cipv_info = 5; // Closest In Path Vehicle (CIPV)
}
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apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/perception_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "traffic_light_detection_cc_proto",
deps = [
":traffic_light_detection_proto",
],
)
proto_library(
name = "traffic_light_detection_proto",
srcs = ["traffic_light_detection.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "traffic_light_detection_py_pb2",
deps = [
":traffic_light_detection_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "perception_obstacle_cc_proto",
deps = [
":perception_obstacle_proto",
],
)
proto_library(
name = "perception_obstacle_proto",
srcs = ["perception_obstacle.proto"],
deps = [
"//modules/common_msgs/basic_msgs:error_code_proto",
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/basic_msgs:pnc_point_proto",
"//modules/common_msgs/map_msgs:map_lane_proto",
],
)
py_proto_library(
name = "perception_obstacle_py_pb2",
deps = [
":perception_obstacle_proto",
"//modules/common_msgs/basic_msgs:error_code_py_pb2",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/basic_msgs:pnc_point_py_pb2",
"//modules/common_msgs/map_msgs:map_lane_py_pb2",
],
)
cc_proto_library(
name = "perception_lane_cc_proto",
deps = [
":perception_lane_proto",
],
)
proto_library(
name = "perception_lane_proto",
srcs = ["perception_lane.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
":perception_camera_proto",
],
)
py_proto_library(
name = "perception_lane_py_pb2",
deps = [
":perception_lane_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
":perception_camera_py_pb2",
],
)
cc_proto_library(
name = "perception_camera_cc_proto",
deps = [
":perception_camera_proto",
],
)
proto_library(
name = "perception_camera_proto",
srcs = ["perception_camera.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
":perception_obstacle_proto",
],
)
py_proto_library(
name = "perception_camera_py_pb2",
deps = [
":perception_camera_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
":perception_obstacle_py_pb2",
],
)
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/perception_msgs/perception_lane.proto
|
syntax = "proto2";
package apollo.perception;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/perception_msgs/perception_camera.proto";
message PerceptionLanes {
optional apollo.common.Header header = 1; // header
optional string source_topic = 2; // which topic to get the frame
optional camera.CameraErrorCode error_code = 3
[default = ERROR_NONE]; // error code
optional camera.CameraCalibrator camera_calibrator = 4;
repeated camera.CameraLaneLine camera_laneline = 5;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/perception_msgs/perception_camera.proto
|
syntax = "proto2";
package apollo.perception.camera;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
enum CameraErrorCode {
ERROR_NONE = 0;
ERROR_UNKNOWN = 1;
}
enum LaneLineType {
WHITE_DASHED = 0;
WHITE_SOLID = 1;
YELLOW_DASHED = 2;
YELLOW_SOLID = 3;
}
enum LaneLinePositionType {
BOLLARD_LEFT = -5;
FOURTH_LEFT = -4;
THIRD_LEFT = -3;
ADJACENT_LEFT = -2; //!< lane marking on the left side next to ego lane
EGO_LEFT = -1; //!< left lane marking of the ego lane
EGO_RIGHT = 1; //!< right lane marking of the ego lane
ADJACENT_RIGHT = 2; //!< lane marking on the right side next to ego lane
THIRD_RIGHT = 3;
FOURTH_RIGHT = 4;
BOLLARD_RIGHT = 5;
OTHER = 6; //!< other types of lane
UNKNOWN = 7; //!< background
}
enum LaneLineUseType {
REAL = 0;
VIRTUAL = 1;
}
message LaneLineCubicCurve {
optional float longitude_min = 1;
optional float longitude_max = 2;
optional float a = 3;
optional float b = 4;
optional float c = 5;
optional float d = 6;
}
message EndPoints {
optional apollo.common.Point2D start = 1;
optional apollo.common.Point2D end = 2;
}
message CameraLaneLine {
optional LaneLineType type = 1;
optional LaneLinePositionType pos_type = 2;
// @brief camera coordinate system
optional LaneLineCubicCurve curve_camera_coord = 3;
// @brief image coordinate system
optional LaneLineCubicCurve curve_image_coord = 4;
// @brief curve camera point set
repeated apollo.common.Point3D curve_camera_point_set = 5;
// @brief curve image point set
repeated apollo.common.Point2D curve_image_point_set = 6;
// @brief image end point set
repeated EndPoints image_end_point_set = 7;
// @brief track id
optional int32 track_id = 8;
// @brief confidence for lane line
optional float confidence = 9;
optional LaneLineUseType use_type = 10;
}
message CameraCalibrator {
optional float pitch_angle = 1;
optional float camera_height = 2;
}
message CameraObstacle {
optional PerceptionObstacle obstacle = 1; // PerceptionObstacle
// 2D information
enum CameraType {
UNKNOWN = 0;
UNKNOWN_MOVABLE = 1;
UNKNOWN_UNMOVABLE = 2;
PEDESTRIAN = 3; // Pedestrian, usually determined by moving behaviour.
BICYCLE = 4; // bike, motor bike
VEHICLE = 5; // Passenger car or truck.
};
optional CameraType type = 21; // obstacle type
repeated float type_probs = 22; // obstacle type
optional apollo.common.Point2D upper_left =
23; // upper left corner of 2D bbox
optional apollo.common.Point2D lower_right =
24; // lower right corner of 2D bbox
repeated apollo.common.Point2D key_points = 25; // 2D key points
repeated string debug_message = 26; // debug message
}
//
message CameraDebug {
optional apollo.common.Header header = 1; // header
optional string source_topic = 2; // which topic to get the frame
optional CameraErrorCode error_code = 3 [default = ERROR_NONE]; // error code
optional CameraCalibrator camera_calibrator = 4;
repeated CameraLaneLine camera_laneline = 5;
repeated CameraObstacle camera_obstacle = 6; // an array of obstacles
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/transform_msgs/transform.proto
|
syntax = "proto2";
package apollo.transform;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
message Transform {
optional apollo.common.Point3D translation = 1;
optional apollo.common.Quaternion rotation = 2;
}
message TransformStamped {
optional apollo.common.Header header = 1;
optional string child_frame_id = 2;
optional Transform transform = 3;
}
message TransformStampeds {
optional apollo.common.Header header = 1;
repeated TransformStamped transforms = 2;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/transform_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "transform_cc_proto",
deps = [
":transform_proto",
],
)
proto_library(
name = "transform_proto",
srcs = ["transform.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "transform_py_pb2",
deps = [
":transform_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/dreamview_msgs/chart.proto
|
syntax = "proto2";
package apollo.dreamview;
import "modules/common_msgs/basic_msgs/geometry.proto";
message Options {
message Axis {
optional double min = 1;
optional double max = 2;
optional string label_string = 3;
// size of the axis of your graph which is then divided into measuring
// grades
optional double window_size = 4;
// size of the smaller measuring grades in the axis found between two larger
// measuring grades
optional double step_size = 5;
// midpoint taken within the dataset. If it is not specified, we will
// calculate it for you.
optional double mid_value = 6;
}
optional bool legend_display = 1 [default = true];
optional Axis x = 2;
optional Axis y = 3;
// This is the aspect ratio (width/height) of the entire chart.
optional double aspect_ratio = 4;
// Same window size for x-Axis and y-Axis. It is
// effective only if x/y window_size is NOT set.
optional bool sync_xy_window_size = 5 [default = false];
}
message Line {
optional string label = 1;
optional bool hide_label_in_legend = 2 [default = false];
repeated apollo.common.Point2D point = 3;
// If the 'color' property is undefined, a random one will be assigned.
// See http://www.chartjs.org/docs/latest/charts/line.html
// for all supported properties from chart.js
map<string, string> properties = 4;
}
message Polygon {
optional string label = 1;
optional bool hide_label_in_legend = 2 [default = false];
repeated apollo.common.Point2D point = 3;
// If the 'color' property is undefined, a random one will be assigned.
// See http://www.chartjs.org/docs/latest/charts/line.html
// for all supported properties from chart.js
map<string, string> properties = 4;
}
message Car {
optional string label = 1;
optional bool hide_label_in_legend = 2 [default = false];
optional double x = 3;
optional double y = 4;
optional double heading = 5;
optional string color = 6;
}
message Chart {
optional string title = 1;
optional Options options = 2;
// data sets
repeated Line line = 3;
repeated Polygon polygon = 4;
repeated Car car = 5;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/dreamview_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "chart_cc_proto",
deps = [
":chart_proto",
],
)
proto_library(
name = "chart_proto",
srcs = ["chart.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
],
)
py_proto_library(
name = "chart_py_pb2",
deps = [
":chart_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
],
)
cc_proto_library(
name = "hmi_status_cc_proto",
deps = [
":hmi_status_proto",
],
)
proto_library(
name = "hmi_status_proto",
srcs = ["hmi_status.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/monitor_msgs:system_status_proto",
"//modules/common_msgs/basic_msgs:geometry_proto",
],
)
py_proto_library(
name = "hmi_status_py_pb2",
deps = [
":hmi_status_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/monitor_msgs:system_status_py_pb2",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/dreamview_msgs/hmi_status.proto
|
syntax = "proto2";
package apollo.dreamview;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/monitor_msgs/system_status.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
message ScenarioInfo {
optional string scenario_id = 1;
optional string scenario_name = 2;
optional string map_name = 3;
optional apollo.common.Point2D start_point = 4;
}
message ScenarioSet {
// id 是key
optional string scenario_set_name = 1;
repeated ScenarioInfo scenarios = 2;
}
message HMIStatus {
optional apollo.common.Header header = 1;
repeated string modes = 2;
optional string current_mode = 3;
repeated string maps = 4;
optional string current_map = 5;
repeated string vehicles = 6;
optional string current_vehicle = 7;
// {module_name: is_running_or_not}
map<string, bool> modules = 8;
// {component_name: status}
map<string, apollo.monitor.ComponentStatus> monitored_components = 9;
optional string docker_image = 10;
optional int32 utm_zone_id = 11; // FLAGS_local_utm_zone_id
// Message which will be read aloud to drivers and passengers through
// Dreamview.
optional string passenger_msg = 12;
// {component_name: status}
map<string, apollo.monitor.ComponentStatus> other_components = 13;
map<string, ScenarioSet> scenario_set = 15;
optional string current_scenario_set_id = 16 [default = ""];
optional string current_scenario_id = 17 [default = ""];
repeated string dynamic_models = 18;
optional string current_dynamic_model = 19;
optional string current_record_id = 20 [default = ""];
map<string, int32> records = 21;
optional sint32 current_vehicle_type = 22;
optional string current_camera_sensor_channel = 23;
optional string current_point_cloud_channel = 24;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/simulation_msgs/scenario.proto
|
syntax = "proto2";
package apollo.simulation;
import "modules/common_msgs/simulation_msgs/agent.proto";
import "modules/common_msgs/simulation_msgs/grading_metric.proto";
import "modules/common_msgs/perception_msgs/traffic_light_detection.proto";
import "modules/common_msgs/planning_msgs/pad_msg.proto";
import "modules/common_msgs/routing_msgs/routing.proto";
message FuzzingConfig {}
message DriveActionConfig {
optional apollo.planning.PadMessage.DrivingAction drive_action = 1 [default = NONE];
optional double trigger_time = 2 [default = 0.0];
}
message Scenario {
optional string name = 1;
optional string description = 2;
message Point {
optional double x = 1;
optional double y = 2;
optional double heading = 3;
// TODO: add lane-id and ratio.
}
// Only use in WorldSim.
optional Point start = 3;
optional Point end = 4;
optional Point parking_point = 5;
// Only use in LogSim
repeated string origin_log_file_path = 6;
optional double log_file_start_time = 7;
optional double log_file_end_time = 8;
// This is used if 1) the logsim bag does not contain one.
// 2) the worldsim has different start pose for routing and ego car.
optional apollo.routing.RoutingRequest routing_request = 9;
// map dir, only used in offline env
optional string map_dir = 10;
// metric specific to the scenario.
optional GradingConfig grade_config = 11;
// agent type
repeated AgentConfig agent = 12;
// a sequence of driving actions
repeated DriveActionConfig drive_action_config = 13;
optional FuzzingConfig fuzzing_config = 14;
// Only use in WorldSim. Max time before stop running the scenario.
optional int32 simulator_time = 15;
// Initial velocity and acceleration of the main vehicle
optional double start_velocity = 16 [default = 0.0];
optional double start_acceleration = 17 [default = 0.0];
// file path to its base metric config
optional string base_grade_config_file = 18;
// Traffic light detection distance.
optional double detect_distance = 19 [default = 120.0];
enum DefaultLightBehavior {
ALWAYS_GREEN = 0;
CYCLICAL = 1; // Traffic lights change by red -> green -> yellow cycles.
}
optional DefaultLightBehavior default_light_behavior = 20
[default = ALWAYS_GREEN];
optional double red_time = 21 [default = 15.0];
optional double green_time = 22 [default = 13.0];
optional double yellow_time = 23 [default = 3.0];
message TL {
optional string id = 1;
message Location {
optional double x = 1;
optional double y = 2;
optional double z = 3;
}
optional Location location = 2;
enum TriggerType {
NA = 0; // The traffic light will stay in initial_state.
DISTANCE = 1;
TIME = 2;
}
optional TriggerType trigger_type = 3 [default = NA];
// Trigger Distance or Trigger Time
optional double trigger_value = 4 [default = 30.0];
message State {
optional apollo.perception.TrafficLight.Color color = 1 [default = GREEN];
optional bool blink = 2 [default = false];
optional double keep_time = 3 [default = 10.0];
}
optional State initial_state = 5;
repeated State state_group = 6;
}
// The overriden traffic lights behavior
repeated TL traffic_lights = 24;
// The scenario should be run in one of the modes.
enum Mode {
WORLDSIM = 0;
LOGSIM = 1;
LOGSIM_CONTROL = 2;
LOGSIM_PERCEPTION = 3;
}
optional Mode mode = 25 [default = WORLDSIM];
repeated string select_default_metric = 26;
repeated string deselect_default_metric = 27;
// The backtrack time to start running perfect_control once a disengage is
// detected.
optional double backtrack_time = 28 [default = 1.0];
// Only use in LogSim
optional string vehicle = 29;
// Only use in worldsim for special scenario conf use multi agent server
optional bool traffic_flow = 30 [default = false];
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/simulation_msgs/grading_condition.proto
|
syntax = "proto2";
package apollo.simulation;
import "modules/common_msgs/map_msgs/map_geometry.proto";
// Next-id: 29
message Condition {
oneof condition {
LogicalCondition logical_condition = 1;
SpeedCondition speed_condition = 2;
AccelerationCondition acceleration_condition = 3;
JerkCondition jerk_condition = 4;
ObjectOverlapCondition object_overlap_condition = 5;
RegionOverlapCondition region_overlap_condition = 6;
RegionOverlapLWCondition region_overlap_lw_condition = 7;
SpinCondition spin_condition = 8;
OnRoadCondition on_road_condition = 9;
RunRedLightCondition run_red_light_condition = 10;
ChangeLaneAtJunctionCondition change_lane_at_junction_condition = 11;
RoutingCondition routing_condition = 12;
CrosswalkYieldCondition crosswalk_yield_condition = 13;
AbnormalStopCondition abnormal_stop_condition = 14;
BrakeTapCondition brake_tap_condition = 15;
RunStopSignCondition run_stop_sign_condition = 16;
CheckpointCondition checkpoint_condition = 17;
DistToEndCondition dist_to_end_condition = 18;
DistToLaneCenterCondition dist_to_lane_center_condition = 19;
CrosswalkStopCondition crosswalk_stop_condition = 20;
RedLightStopCondition red_light_stop_condition = 21;
SpeedbumpLimitCondition speedbump_limit_condition = 22;
WorkingZoneAvoidLimitCondition working_zone_avoid_limit_condition = 23;
LimitedTimeParkingCondition limited_time_parking_condition = 24;
FollowAndBypassCondition follow_and_bypass_condition = 25;
ObstacleBypassCondition obstacle_bypass_condition = 26;
CentripetalAccelerationCondition centripetal_acceleration_condition = 27;
TimeLimitCondition time_limit_condition = 28;
AntiCheatingCondition anti_cheating_condition = 29;
KeyPointCondition key_point_condition = 30;
}
optional GradePlanning grade_planning = 100;
}
message GradePlanning {
// any negative integer: grade all the planning points,
// 0: do not grade any planning point,
// any positive integer k: grade planning points within k sec.
optional sint32 duration = 1 [default = 0];
// Whether to search for a perception obstacle frame that is
// close enough in time to the planning point.
optional bool update_obstacles = 2 [default = false];
// Whether to evaluate planning points in a certain range.
optional bool use_planning_as_history = 3 [default = false];
}
message LogicalCondition {
enum OperatorType {
UNKNOWN = 0;
NOT = 1;
AND = 2;
OR = 3;
IMPLY = 4;
XOR = 5;
}
optional OperatorType operator_type = 1;
repeated Condition sub_condition = 2;
}
message SpeedCondition {
optional string name = 1 [default = "speed"];
optional double min_speed = 2 [default = -0.5];
optional double max_speed = 3 [default = 1000.0];
optional bool use_score = 4 [default = false];
optional double single_deduction = 5 [default = 0.5];
}
message CentripetalAccelerationCondition {
// 向心加速度限制
optional string name = 1 [default = "centripetal_acceleration"];
optional double max_centripetal_acceleration = 2 [default = 2.0];
optional bool use_score = 3 [default = false];
optional double single_deduction = 4 [default = 0.5];
}
message AccelerationCondition {
optional string name = 1 [default = "acceleration"];
optional double min_acceleration = 2 [default = -1000.0];
optional double max_acceleration = 3 [default = 1000.0];
optional bool use_score = 4 [default = false];
optional double single_deduction = 5 [default = 0.5];
}
message JerkCondition {
optional string name = 1 [default = "jerk"];
optional double min_jerk = 2 [default = -1000.0];
optional double max_jerk = 3 [default = 1000.0];
}
message SpinCondition {
optional string name = 1 [default = "spin"];
optional double min_spin = 2 [default = -1000.0];
optional double max_spin = 3 [default = 1000.0];
}
message ObjectOverlapCondition {
enum DirectionType {
EXCLUDE_BACK = 0;
INCLUDE_BACK = 1;
}
optional string source_object_ids = 1;
optional string target_object_ids = 2;
optional double distance = 3;
// the relative direction from the source object
optional DirectionType direction = 4 [default = EXCLUDE_BACK];
repeated string ignore_object_ids = 5;
optional bool use_score = 6 [default = false];
}
message RegionOverlapCondition {
optional string object_ids = 1;
// Coordinates of region corners. e.g. x1, y1, x2, y2, etc.
repeated double region_corner_xy = 2 [packed = true];
// True if the condition requires the region fully containing the object.
optional bool require_fully_contain = 3;
// Specify if the polygon has certain pre-defined heading.
optional double heading = 4;
optional bool use_score = 5 [default = false];
}
message RegionOverlapLWCondition {
optional string object_ids = 1;
optional double x = 2;
optional double y = 3;
optional double length = 4;
optional double width = 5;
// True if the condition requires the region fully containing the object.
optional bool require_fully_contain = 6;
optional bool use_score = 7 [default = false];
}
message OnRoadCondition {
// True if evaluate based on road boundary rather than lane boundary.
optional bool use_road_boundary = 1 [default = false];
optional bool use_score = 2 [default = false];
}
message RunRedLightCondition {
optional bool use_score = 1 [default = false];
}
message RedLightStopCondition {
optional double min_distance = 1 [default = 2.0];
optional double max_distance = 2 [default = 2.2];
optional bool use_score = 3 [default = false];
optional double single_deduction = 4 [default = 5];
}
message ChangeLaneAtJunctionCondition {}
message RoutingCondition {}
message CrosswalkYieldCondition {}
message CrosswalkStopCondition {
optional double min_distance = 1 [default = 2.2];
optional double max_distance = 2 [default = 2.7];
optional bool use_score = 3 [default = false];
optional double single_deduction = 4 [default = 5];
}
message AbnormalStopCondition {
optional double duration = 1 [default = 5.0];
optional double distance = 2 [default = 10.0];
optional double x = 3;
optional double y = 4;
}
message BrakeTapCondition {
optional double min_duration = 1 [default = 1.0];
optional double max_duration = 2 [default = 4.0];
}
message RunStopSignCondition {
optional double distance = 1 [default = 2.0];
}
message CheckpointCondition {
// Each checkpoint sub-condition needs to be true at least once.
repeated Condition checkpoint = 1;
}
message DistToEndCondition {}
message DistToLaneCenterCondition {}
message TimeLimitCondition {
// time limitation, in seconds
optional double timeout = 1;
optional bool use_score = 2 [default = false];
}
message SpeedbumpLimitCondition {
// change speedbump from line segment to rectangle which length = line segment
// length
optional double speedbump_half_width = 1 [default = 0.2];
optional double max_speed = 2 [default = 3.0];
// (adc_speed - max_speed)/deduction_speed_unit 来计算扣分次数
optional double deduction_speed_unit = 3 [default = 1.0];
optional bool use_score = 4 [default = false];
optional double single_deduction = 5 [default = 5];
}
// 区别：和regionOverlap希望包含这个polygon或者有重叠的情况
// 施工区域：希望不包含这个polygon，同时含限时+限速
// 忽略限速和限时，将变成一个判断no overlap的情况
// 可以理解为：regionOverlap反向
message WorkingZoneAvoidLimitCondition {
// adc should avoid working zone
repeated apollo.hdmap.Polygon working_zone = 1;
optional double max_speed = 2 [default = 8.33];
// whole area used for judge if car enter this area
// if enter, then check if enter working_zone
// this field required
optional apollo.hdmap.Polygon whole_area = 3;
optional bool use_score = 4 [default = false];
// 单帧扣分系数，应该与位移及检测帧率成负相关，与总分值成正相关
// 扣分公式为sum((vx/vl-1)^(vx/vl)*single_deduction)
// vx 为当前帧速度
// vl 即 max_speed, 最大限速
// 具体的系数公式待定，以下仅举例说明，由于公式不明确，暂时以一个
// 定值参数的形式从配置传入
// eg: 满分为120的情况下，频率100（间隔0.01s），距离600m的情况下
// single_deduction = (120 * k) / (600 * 100), k 为常数
// k为30则single_deduction为0.06，则通过扣分公式大概可得
// 平均速度超过60%之后可将分数扣完
// k为40则single_deduction为0.08，则通过扣分公式大概可得
// 平均速度超过43%之后可将分数扣完
// 调整k使用single_deduction可以让速度超过一定比例后将分数扣完
optional double single_deduction = 5 [default = 3];
}
message LimitedTimeParkingCondition {
optional apollo.hdmap.Polygon parking_lot = 1;
// 转变time to 次数
// eg: 90s内限时停车，频率10ms刷新一次 9000次
optional bool use_score = 2 [default = false];
optional double single_deduction = 3 [default = 5];
}
message FollowAndBypassCondition {
optional apollo.hdmap.Polygon test_range = 1;
optional double divide_speed = 2 [default = 3.0]; // 3
optional string obstacle_id = 3; // 1372
optional apollo.hdmap.LineSegment end_line = 4;
optional bool use_score = 5 [default = false];
// no single deduction only 100 or 0
}
message ObstacleBypassCondition {
optional apollo.hdmap.Polygon test_range = 1;
optional string obstacle_id = 2;
optional double min_lateral_distance = 3 [default = 1.0];
optional double max_speed = 4 [default = 5.0];
optional bool use_score = 5 [default = false];
optional double single_deduction = 6 [default = 5];
}
message AntiCheatingCondition {
optional bool use_score = 1 [default = false];
}
message KeyPoint {
optional double x = 1;
optional double y = 2;
optional double z = 3 [default = 0.0];
optional double radius = 4 [default = 2.0];
}
// 这个条件是针对高速足跳变所设计，通过设置道路的检查点，看车辆是否保持合理的运
// 行轨迹
// TODO: 在解析评测配置的处增加根据路线生成检查点的逻辑
message KeyPointCondition {
optional bool use_score = 1 [default = false];
optional bool in_order = 2 [default = true];
optional double radius = 3 [default = 2.0];
// 检查点，每个点都经过结果判定才会为真
repeated KeyPoint point = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/simulation_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "agent_cc_proto",
deps = [
":agent_proto",
],
)
proto_library(
name = "agent_proto",
srcs = ["agent.proto"],
)
py_proto_library(
name = "agent_py_pb2",
deps = [
":agent_proto",
],
)
cc_proto_library(
name = "scenario_cc_proto",
deps = [
":scenario_proto",
],
)
proto_library(
name = "scenario_proto",
srcs = ["scenario.proto"],
deps = [
":agent_proto",
":grading_metric_proto",
"//modules/common_msgs/perception_msgs:traffic_light_detection_proto",
"//modules/common_msgs/planning_msgs:pad_msg_proto",
"//modules/common_msgs/routing_msgs:routing_proto",
],
)
py_proto_library(
name = "scenario_py_pb2",
deps = [
":scenario_proto",
":agent_py_pb2",
":grading_metric_py_pb2",
"//modules/common_msgs/perception_msgs:traffic_light_detection_py_pb2",
"//modules/common_msgs/planning_msgs:pad_msg_py_pb2",
"//modules/common_msgs/routing_msgs:routing_py_pb2",
],
)
cc_proto_library(
name = "grading_metric_cc_proto",
deps = [
":grading_metric_proto",
],
)
proto_library(
name = "grading_metric_proto",
srcs = ["grading_metric.proto"],
deps = [
":grading_condition_proto",
],
)
py_proto_library(
name = "grading_metric_py_pb2",
deps = [
":grading_metric_proto",
":grading_condition_py_pb2",
],
)
cc_proto_library(
name = "grading_condition_cc_proto",
deps = [
":grading_condition_proto",
],
)
proto_library(
name = "grading_condition_proto",
srcs = ["grading_condition.proto"],
deps = [
"//modules/common_msgs/map_msgs:map_geometry_proto",
],
)
py_proto_library(
name = "grading_condition_py_pb2",
deps = [
":grading_condition_proto",
"//modules/common_msgs/map_msgs:map_geometry_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/simulation_msgs/grading_metric.proto
|
syntax = "proto2";
package apollo.simulation;
import "modules/common_msgs/simulation_msgs/grading_condition.proto";
message GradingConfig {
repeated Metric metric = 1;
// Attention: compatible with the previous pass and fail
optional bool use_score = 2 [default = false];
// 计算的是更具体的达标时间并记录 是否compute time
optional bool use_time = 3 [default = false];
// This metric decide when end,how to compute time!
optional string compute_time_metric_name = 4 [default = "ReachEnd"];
// 计算时间第一次true的时候记录-比如到达终点
// 停车采取不同的策略：因为过程中始终有变更，采取最后一次状态的时候记录Timestamp
//【过程中】由True到false直接清除之前记录，确保状态变更始终维持最新
optional bool compute_time_as_first_true = 5 [default = true];
}
message Metric {
optional string name = 1;
optional string description = 2;
// Set if combined conditions have been used.
optional Condition condition = 3;
// True if the metric is critical to the scenario.
// i.e. the scenario fails as long as the metric fails.
optional bool is_critical = 4 [default = true];
// True implies the metric passes if and only if the condition
// is passing all the time.
optional bool require_all_time_pass = 5 [default = true];
// True implies the metric passes if and only if the condition
// stays passing once it passes for one time frame.
optional bool once_pass_stay_pass = 6 [default = true];
// Metric是否获取扣分还是得到的直接是最终分数
optional bool get_deduction_score = 7 [default = true];
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/simulation_msgs/agent.proto
|
syntax = "proto2";
package apollo.simulation;
message AgentConfig {
optional int32 id = 1;
optional string description = 2;
optional double width = 3 [default = 2.0];
optional double length = 4 [default = 5.0];
optional double height = 5 [default = 1.8];
enum Type {
VEHICLE = 0;
BICYCLE = 1;
PEDESTRIAN = 2;
UNKNOWN_UNMOVABLE = 3;
UNKNOWN_MOVABLE = 4;
}
optional Type type = 6;
optional double appear_time = 7 [deprecated = true];
optional double disappear_time = 8 [deprecated = true];
message TrackedPoint {
optional double x = 1;
optional double y = 2;
optional double heading = 3;
optional double speed = 4;
optional double acceleration = 5;
}
repeated TrackedPoint tracked_point = 9;
// Static, lane follow and tracked objects.
enum MotionType {
STATIC = 0;
LANE_FOLLOW = 1; // not implemented
TRACKED = 2;
}
optional MotionType motiontype = 10;
optional double distance = 11;
optional TrackedPoint start_position = 12;
optional TrackedPoint end_position = 14;
optional string start_lane = 15;
optional string end_lane = 16;
enum TriggerType {
DISTANCE = 0;
TIME = 1;
}
optional TriggerType trigger_type = 20;
optional double start_distance =
13; // Start when distance from adc < start_distance
optional double start_time = 21 [default = 0.0];
// Whether the agent avoids rear-end collision
optional bool avoid_rear_end_collision = 17 [default = true];
optional double rear_end_collision_distance = 18
[default = 3.0, deprecated = true];
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/audio_msgs/audio.proto
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
syntax = "proto2";
package apollo.audio;
import "modules/common_msgs/audio_msgs/audio_common.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
message AudioDetection {
optional apollo.common.Header header = 1;
optional bool is_siren = 2;
optional apollo.audio.MovingResult moving_result = 3 [default = UNKNOWN];
optional apollo.common.Point3D position = 4;
optional double source_degree = 5;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/audio_msgs/audio_event.proto
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
syntax = "proto2";
package apollo.audio;
import "modules/common_msgs/audio_msgs/audio_common.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/localization_msgs/pose.proto";
message AudioEvent {
optional apollo.common.Header header = 1;
optional int32 id = 2; // obstacle ID.
optional apollo.audio.MovingResult moving_result = 3 [default = UNKNOWN];
optional apollo.audio.AudioType audio_type = 4 [default = UNKNOWN_TYPE];
optional bool siren_is_on = 5;
optional apollo.audio.AudioDirection audio_direction = 6
[default = UNKNOWN_DIRECTION];
optional apollo.localization.Pose pose = 7;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/audio_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "audio_cc_proto",
deps = [
":audio_proto",
],
)
proto_library(
name = "audio_proto",
srcs = ["audio.proto"],
deps = [
":audio_common_proto",
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "audio_py_pb2",
deps = [
":audio_proto",
":audio_common_py_pb2",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "audio_event_cc_proto",
deps = [
":audio_event_proto",
],
)
proto_library(
name = "audio_event_proto",
srcs = ["audio_event.proto"],
deps = [
":audio_common_proto",
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/localization_msgs:pose_proto",
],
)
py_proto_library(
name = "audio_event_py_pb2",
deps = [
":audio_event_proto",
":audio_common_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/localization_msgs:pose_py_pb2",
],
)
cc_proto_library(
name = "audio_common_cc_proto",
deps = [
":audio_common_proto",
],
)
proto_library(
name = "audio_common_proto",
srcs = ["audio_common.proto"],
)
py_proto_library(
name = "audio_common_py_pb2",
deps = [
":audio_common_proto",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/audio_msgs/audio_common.proto
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
syntax = "proto2";
package apollo.audio;
enum MovingResult {
UNKNOWN = 0;
APPROACHING = 1;
DEPARTING = 2;
STATIONARY = 3;
}
enum AudioType {
UNKNOWN_TYPE = 0;
POLICE = 1;
AMBULANCE = 2;
FIRETRUCK = 3;
}
enum AudioDirection {
UNKNOWN_DIRECTION = 0;
FRONT = 1;
LEFT = 2;
BACK = 3;
RIGHT = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/planning_msgs/planning.proto
|
syntax = "proto2";
package apollo.planning;
import "modules/common_msgs/chassis_msgs/chassis.proto";
import "modules/common_msgs/basic_msgs/drive_state.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
import "modules/common_msgs/planning_msgs/decision.proto";
import "modules/common_msgs/planning_msgs/planning_internal.proto";
message EStop {
// is_estop == true when emergency stop is required
optional bool is_estop = 1;
optional string reason = 2;
}
message TaskStats {
optional string name = 1;
optional double time_ms = 2;
}
message LatencyStats {
optional double total_time_ms = 1;
repeated TaskStats task_stats = 2;
optional double init_frame_time_ms = 3;
}
enum JucType {
UNKNOWN = 0;
IN_ROAD = 1;
CROSS_ROAD = 2;
FORK_ROAD = 3;
MAIN_SIDE = 4;
DEAD_END = 5;
}
message RSSInfo {
optional bool is_rss_safe = 1;
optional double cur_dist_lon = 2;
optional double rss_safe_dist_lon = 3;
optional double acc_lon_range_minimum = 4;
optional double acc_lon_range_maximum = 5;
optional double acc_lat_left_range_minimum = 6;
optional double acc_lat_left_range_maximum = 7;
optional double acc_lat_right_range_minimum = 8;
optional double acc_lat_right_range_maximum = 9;
}
// next id: 24
message ADCTrajectory {
optional apollo.common.Header header = 1;
optional double total_path_length = 2; // in meters
optional double total_path_time = 3; // in seconds
optional EStop estop = 6;
optional apollo.planning_internal.Debug debug = 8;
// is_replan == true mean replan triggered
optional bool is_replan = 9 [default = false];
// Specify trajectory gear
optional apollo.canbus.Chassis.GearPosition gear = 10;
// path data + speed data
repeated apollo.common.TrajectoryPoint trajectory_point = 12;
// path point without speed info
repeated apollo.common.PathPoint path_point = 13;
optional apollo.planning.DecisionResult decision = 14;
optional LatencyStats latency_stats = 15;
// the routing used for current planning result
optional apollo.common.Header routing_header = 16;
enum RightOfWayStatus {
UNPROTECTED = 0;
PROTECTED = 1;
}
optional RightOfWayStatus right_of_way_status = 17;
// lane id along current reference line
repeated apollo.hdmap.Id lane_id = 18;
// set the engage advice for based on current planning result.
optional apollo.common.EngageAdvice engage_advice = 19;
// the region where planning cares most
message CriticalRegion {
repeated apollo.common.Polygon region = 1;
}
// critical region will be empty when planning is NOT sure which region is
// critical
// critical regions may or may not overlap
optional CriticalRegion critical_region = 20;
enum TrajectoryType {
UNKNOWN = 0;
NORMAL = 1;
PATH_FALLBACK = 2;
SPEED_FALLBACK = 3;
PATH_REUSED = 4;
}
optional TrajectoryType trajectory_type = 21 [default = UNKNOWN];
optional string replan_reason = 22;
// lane id along target reference line
repeated apollo.hdmap.Id target_lane_id = 23;
// complete dead end flag
optional bool car_in_dead_end = 24;
// output related to RSS
optional RSSInfo rss_info = 100;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/planning_msgs/sl_boundary.proto
|
syntax = "proto2";
package apollo.planning;
import "modules/common_msgs/basic_msgs/pnc_point.proto";
/////////////////////////////////////////////////////////////////
// The start_s and end_s are longitudinal values.
// start_s <= end_s.
//
// end_s
// ^
// |
// S direction
// |
// start_s
//
// The start_l and end_l are lateral values.
// start_l <= end_l. Left side of the reference line is positive,
// and right side of the reference line is negative.
// end_l <-----L direction---- start_l
/////////////////////////////////////////////////////////////////
message SLBoundary {
optional double start_s = 1;
optional double end_s = 2;
optional double start_l = 3;
optional double end_l = 4;
repeated apollo.common.SLPoint boundary_point = 5;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/planning_msgs/planning_internal.proto
|
syntax = "proto2";
package apollo.planning_internal;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/chassis_msgs/chassis.proto";
import "modules/common_msgs/dreamview_msgs/chart.proto";
import "modules/common_msgs/localization_msgs/localization.proto";
import "modules/common_msgs/perception_msgs/traffic_light_detection.proto";
import "modules/common_msgs/planning_msgs/decision.proto";
import "modules/common_msgs/planning_msgs/navigation.proto";
import "modules/common_msgs/planning_msgs/scenario_type.proto";
import "modules/common_msgs/planning_msgs/sl_boundary.proto";
import "modules/common_msgs/routing_msgs/routing.proto";
message Debug {
optional PlanningData planning_data = 2;
}
message SpeedPlan {
optional string name = 1;
repeated apollo.common.SpeedPoint speed_point = 2;
}
message StGraphBoundaryDebug {
enum StBoundaryType {
ST_BOUNDARY_TYPE_UNKNOWN = 1;
ST_BOUNDARY_TYPE_STOP = 2;
ST_BOUNDARY_TYPE_FOLLOW = 3;
ST_BOUNDARY_TYPE_YIELD = 4;
ST_BOUNDARY_TYPE_OVERTAKE = 5;
ST_BOUNDARY_TYPE_KEEP_CLEAR = 6;
ST_BOUNDARY_TYPE_DRIVABLE_REGION = 7;
}
optional string name = 1;
repeated apollo.common.SpeedPoint point = 2;
optional StBoundaryType type = 3;
}
message SLFrameDebug {
optional string name = 1;
repeated double sampled_s = 2;
repeated double static_obstacle_lower_bound = 3;
repeated double dynamic_obstacle_lower_bound = 4;
repeated double static_obstacle_upper_bound = 5;
repeated double dynamic_obstacle_upper_bound = 6;
repeated double map_lower_bound = 7;
repeated double map_upper_bound = 8;
repeated apollo.common.SLPoint sl_path = 9;
repeated double aggregated_boundary_s = 10;
repeated double aggregated_boundary_low = 11;
repeated double aggregated_boundary_high = 12;
}
message STGraphDebug {
message STGraphSpeedConstraint {
repeated double t = 1;
repeated double lower_bound = 2;
repeated double upper_bound = 3;
}
message STGraphKernelCuiseRef {
repeated double t = 1;
repeated double cruise_line_s = 2;
}
message STGraphKernelFollowRef {
repeated double t = 1;
repeated double follow_line_s = 2;
}
optional string name = 1;
repeated StGraphBoundaryDebug boundary = 2;
repeated apollo.common.SpeedPoint speed_limit = 3;
repeated apollo.common.SpeedPoint speed_profile = 4;
optional STGraphSpeedConstraint speed_constraint = 5;
optional STGraphKernelCuiseRef kernel_cruise_ref = 6;
optional STGraphKernelFollowRef kernel_follow_ref = 7;
}
message SignalLightDebug {
message SignalDebug {
optional string light_id = 1;
optional apollo.perception.TrafficLight.Color color = 2;
optional double light_stop_s = 3;
optional double adc_stop_deceleration = 4;
optional bool is_stop_wall_created = 5;
}
optional double adc_speed = 1;
optional double adc_front_s = 2;
repeated SignalDebug signal = 3;
}
message DecisionTag {
optional string decider_tag = 1;
optional apollo.planning.ObjectDecisionType decision = 2;
}
message ObstacleDebug {
optional string id = 1;
optional apollo.planning.SLBoundary sl_boundary = 2;
repeated DecisionTag decision_tag = 3;
repeated double vertices_x_coords = 4;
repeated double vertices_y_coords = 5;
}
message ReferenceLineDebug {
optional string id = 1;
optional double length = 2;
optional double cost = 3;
optional bool is_change_lane_path = 4;
optional bool is_drivable = 5;
optional bool is_protected = 6;
optional bool is_offroad = 7;
optional double minimum_boundary = 8;
optional double average_kappa = 9 [deprecated = true];
optional double average_dkappa = 10 [deprecated = true];
optional double kappa_rms = 11;
optional double dkappa_rms = 12;
optional double kappa_max_abs = 13;
optional double dkappa_max_abs = 14;
optional double average_offset = 15;
}
message SampleLayerDebug {
repeated apollo.common.SLPoint sl_point = 1;
}
message DpPolyGraphDebug {
repeated SampleLayerDebug sample_layer = 1;
repeated apollo.common.SLPoint min_cost_point = 2;
}
message ScenarioDebug {
optional apollo.planning.ScenarioType scenario_type = 1;
optional apollo.planning.StageType stage_type = 2;
optional string msg = 3;
}
message Trajectories {
repeated apollo.common.Trajectory trajectory = 1;
}
message OpenSpaceDebug {
optional apollo.planning_internal.Trajectories trajectories = 1;
optional apollo.common.VehicleMotion warm_start_trajectory = 2;
optional apollo.common.VehicleMotion smoothed_trajectory = 3;
repeated double warm_start_dual_lambda = 4;
repeated double warm_start_dual_miu = 5;
repeated double optimized_dual_lambda = 6;
repeated double optimized_dual_miu = 7;
repeated double xy_boundary = 8;
repeated apollo.planning_internal.ObstacleDebug obstacles = 9;
optional apollo.common.TrajectoryPoint roi_shift_point = 10;
optional apollo.common.TrajectoryPoint end_point = 11;
optional apollo.planning_internal.Trajectories partitioned_trajectories = 12;
optional apollo.planning_internal.Trajectories chosen_trajectory = 13;
optional bool is_fallback_trajectory = 14;
optional apollo.planning_internal.Trajectories fallback_trajectory = 15;
optional apollo.common.TrajectoryPoint trajectory_stitching_point = 16;
optional apollo.common.TrajectoryPoint future_collision_point = 17;
optional double time_latency = 18 [default = 0.0]; // ms
optional apollo.common.PointENU origin_point = 19; // meter
optional double origin_heading_rad = 20;
}
message SmootherDebug {
enum SmootherType {
SMOOTHER_NONE = 1;
SMOOTHER_CLOSE_STOP = 2;
}
optional bool is_smoothed = 1;
optional SmootherType type = 2 [default = SMOOTHER_NONE];
optional string reason = 3;
}
message PullOverDebug {
optional apollo.common.PointENU position = 1;
optional double theta = 2;
optional double length_front = 3;
optional double length_back = 4;
optional double width_left = 5;
optional double width_right = 6;
}
// next ID: 30
message PlanningData {
// input
optional apollo.localization.LocalizationEstimate adc_position = 7;
optional apollo.canbus.Chassis chassis = 8;
optional apollo.routing.RoutingResponse routing = 9;
optional apollo.common.TrajectoryPoint init_point = 10;
repeated apollo.common.Path path = 6;
repeated SpeedPlan speed_plan = 13;
repeated STGraphDebug st_graph = 14;
repeated SLFrameDebug sl_frame = 15;
optional apollo.common.Header prediction_header = 16;
optional SignalLightDebug signal_light = 17;
repeated ObstacleDebug obstacle = 18;
repeated ReferenceLineDebug reference_line = 19;
optional DpPolyGraphDebug dp_poly_graph = 20;
optional LatticeStTraining lattice_st_image = 21;
optional apollo.relative_map.MapMsg relative_map = 22;
optional AutoTuningTrainingData auto_tuning_training_data = 23;
optional double front_clear_distance = 24;
repeated apollo.dreamview.Chart chart = 25;
optional ScenarioDebug scenario = 26;
optional OpenSpaceDebug open_space = 27;
optional SmootherDebug smoother = 28;
optional PullOverDebug pull_over = 29;
optional HybridModelDebug hybrid_model = 30;
}
message LatticeStPixel {
optional int32 s = 1;
optional int32 t = 2;
optional uint32 r = 3;
optional uint32 g = 4;
optional uint32 b = 5;
}
message LatticeStTraining {
repeated LatticeStPixel pixel = 1;
optional double timestamp = 2;
optional string annotation = 3;
optional uint32 num_s_grids = 4;
optional uint32 num_t_grids = 5;
optional double s_resolution = 6;
optional double t_resolution = 7;
}
message CostComponents {
repeated double cost_component = 1;
}
message AutoTuningTrainingData {
optional CostComponents teacher_component = 1;
optional CostComponents student_component = 2;
}
message CloudReferenceLineRequest {
repeated apollo.routing.LaneSegment lane_segment = 1;
}
message CloudReferenceLineRoutingRequest {
optional apollo.routing.RoutingResponse routing = 1;
}
message CloudReferenceLineResponse {
repeated apollo.common.Path segment = 1;
}
message HybridModelDebug {
optional bool using_learning_model_output = 1 [default = false];
optional double learning_model_output_usage_ratio = 2;
optional string learning_model_output_fail_reason = 3;
optional apollo.common.Path evaluated_path_reference = 4;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/planning_msgs/navigation.proto
|
syntax = "proto2";
package apollo.relative_map;
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/localization_msgs/localization.proto";
import "modules/common_msgs/map_msgs/map.proto";
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
message NavigationPath {
optional apollo.common.Path path = 1;
// highest = 0 which can directly reach destination; change lane indicator
optional uint32 path_priority = 2;
}
message NavigationInfo {
optional apollo.common.Header header = 1;
repeated NavigationPath navigation_path = 2;
}
// The map message in transmission format.
message MapMsg {
optional apollo.common.Header header = 1;
// Coordination: FLU
// x: Forward
// y: Left
// z: Up
optional apollo.hdmap.Map hdmap = 2;
// key: type string; the lane id in Map
// value: Navigation path; the reference line of the lane
map<string, NavigationPath> navigation_path = 3;
// lane marker info from perception
optional apollo.perception.LaneMarkers lane_marker = 4;
// localization
optional apollo.localization.LocalizationEstimate localization = 5;
}
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|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/planning_msgs/scenario_type.proto
|
syntax = "proto2";
package apollo.planning;
enum ScenarioType {
LANE_FOLLOW = 0; // default scenario
// intersection involved
BARE_INTERSECTION_UNPROTECTED = 2;
STOP_SIGN_PROTECTED = 3;
STOP_SIGN_UNPROTECTED = 4;
TRAFFIC_LIGHT_PROTECTED = 5;
TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN = 6;
TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN = 7;
YIELD_SIGN = 8;
// parking
PULL_OVER = 9;
VALET_PARKING = 10;
EMERGENCY_PULL_OVER = 11;
EMERGENCY_STOP = 12;
// misc
NARROW_STREET_U_TURN = 13;
PARK_AND_GO = 14;
// learning model sample
LEARNING_MODEL_SAMPLE = 15;
// turn around
DEADEND_TURNAROUND = 16;
}
// StageType is a superset of stages from all scenarios.
// It is created to keep different scenarios have uniform config interface
enum StageType {
NO_STAGE = 0;
LANE_FOLLOW_DEFAULT_STAGE = 1;
// bare_intersection_unprotected scenario
BARE_INTERSECTION_UNPROTECTED_APPROACH = 200;
BARE_INTERSECTION_UNPROTECTED_INTERSECTION_CRUISE = 201;
// stop_sign_unprotected scenario
STOP_SIGN_UNPROTECTED_PRE_STOP = 300;
STOP_SIGN_UNPROTECTED_STOP = 301;
STOP_SIGN_UNPROTECTED_CREEP = 302;
STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE = 303;
// traffic_light_protected scenario
TRAFFIC_LIGHT_PROTECTED_APPROACH = 400;
TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISE = 401;
// traffic_light_unprotected_left_turn scenario
TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_APPROACH = 410;
TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP = 411;
TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE = 412;
// traffic_light_unprotected_right_turn scenario
TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP = 420;
TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP = 421;
TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE = 422;
// pull_over scenario
PULL_OVER_APPROACH = 500;
PULL_OVER_RETRY_APPROACH_PARKING = 501;
PULL_OVER_RETRY_PARKING = 502;
// emergency_pull_over scenario
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 = 700;
VALET_PARKING_PARKING = 701;
// turning around scenario
DEADEND_TURNAROUND_APPROACHING_TURNING_POINT = 1100;
DEADEND_TURNAROUND_TURNING = 1101;
// park_and_go scenario
PARK_AND_GO_CHECK = 800;
PARK_AND_GO_CRUISE = 801;
PARK_AND_GO_ADJUST = 802;
PARK_AND_GO_PRE_CRUISE = 803;
// yield_sign scenario
YIELD_SIGN_APPROACH = 900;
YIELD_SIGN_CREEP = 901;
// learning_model_sample scenario
LEARNING_MODEL_RUN = 1000;
}
| 0
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apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/planning_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "planning_cc_proto",
deps = [
":planning_proto",
],
)
proto_library(
name = "planning_proto",
srcs = ["planning.proto"],
deps = [
"//modules/common_msgs/chassis_msgs:chassis_proto",
"//modules/common_msgs/basic_msgs:drive_state_proto",
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/basic_msgs:pnc_point_proto",
"//modules/common_msgs/map_msgs:map_id_proto",
":decision_proto",
":planning_internal_proto",
],
)
py_proto_library(
name = "planning_py_pb2",
deps = [
":planning_proto",
"//modules/common_msgs/chassis_msgs:chassis_py_pb2",
"//modules/common_msgs/basic_msgs:drive_state_py_pb2",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/basic_msgs:pnc_point_py_pb2",
"//modules/common_msgs/map_msgs:map_id_py_pb2",
":decision_py_pb2",
":planning_internal_py_pb2",
],
)
cc_proto_library(
name = "sl_boundary_cc_proto",
deps = [
":sl_boundary_proto",
],
)
proto_library(
name = "sl_boundary_proto",
srcs = ["sl_boundary.proto"],
deps = [
"//modules/common_msgs/basic_msgs:pnc_point_proto",
],
)
py_proto_library(
name = "sl_boundary_py_pb2",
deps = [
":sl_boundary_proto",
"//modules/common_msgs/basic_msgs:pnc_point_py_pb2",
],
)
cc_proto_library(
name = "planning_internal_cc_proto",
deps = [
":planning_internal_proto",
],
)
proto_library(
name = "planning_internal_proto",
srcs = ["planning_internal.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/basic_msgs:pnc_point_proto",
"//modules/common_msgs/chassis_msgs:chassis_proto",
"//modules/common_msgs/dreamview_msgs:chart_proto",
"//modules/common_msgs/localization_msgs:localization_proto",
"//modules/common_msgs/perception_msgs:traffic_light_detection_proto",
":decision_proto",
":navigation_proto",
":scenario_type_proto",
":sl_boundary_proto",
"//modules/common_msgs/routing_msgs:routing_proto",
],
)
py_proto_library(
name = "planning_internal_py_pb2",
deps = [
":planning_internal_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/basic_msgs:pnc_point_py_pb2",
"//modules/common_msgs/chassis_msgs:chassis_py_pb2",
"//modules/common_msgs/dreamview_msgs:chart_py_pb2",
"//modules/common_msgs/localization_msgs:localization_py_pb2",
"//modules/common_msgs/perception_msgs:traffic_light_detection_py_pb2",
":decision_py_pb2",
":navigation_py_pb2",
":scenario_type_py_pb2",
":sl_boundary_py_pb2",
"//modules/common_msgs/routing_msgs:routing_py_pb2",
],
)
cc_proto_library(
name = "navigation_cc_proto",
deps = [
":navigation_proto",
],
)
proto_library(
name = "navigation_proto",
srcs = ["navigation.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/basic_msgs:pnc_point_proto",
"//modules/common_msgs/localization_msgs:localization_proto",
"//modules/common_msgs/map_msgs:map_proto",
"//modules/common_msgs/perception_msgs:perception_obstacle_proto",
],
)
py_proto_library(
name = "navigation_py_pb2",
deps = [
":navigation_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/basic_msgs:pnc_point_py_pb2",
"//modules/common_msgs/localization_msgs:localization_py_pb2",
"//modules/common_msgs/map_msgs:map_py_pb2",
"//modules/common_msgs/perception_msgs:perception_obstacle_py_pb2",
],
)
cc_proto_library(
name = "scenario_type_cc_proto",
deps = [
":scenario_type_proto",
],
)
proto_library(
name = "scenario_type_proto",
srcs = ["scenario_type.proto"],
)
py_proto_library(
name = "scenario_type_py_pb2",
deps = [
":scenario_type_proto",
],
)
cc_proto_library(
name = "pad_msg_cc_proto",
deps = [
":pad_msg_proto",
],
)
proto_library(
name = "pad_msg_proto",
srcs = ["pad_msg.proto"],
deps = [
"//modules/common_msgs/basic_msgs:header_proto",
],
)
py_proto_library(
name = "pad_msg_py_pb2",
deps = [
":pad_msg_proto",
"//modules/common_msgs/basic_msgs:header_py_pb2",
],
)
cc_proto_library(
name = "decision_cc_proto",
deps = [
":decision_proto",
],
)
proto_library(
name = "decision_proto",
srcs = ["decision.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:vehicle_signal_proto",
"//modules/common_msgs/routing_msgs:routing_proto",
],
)
py_proto_library(
name = "decision_py_pb2",
deps = [
":decision_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:vehicle_signal_py_pb2",
"//modules/common_msgs/routing_msgs:routing_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/planning_msgs/pad_msg.proto
|
syntax = "proto2";
package apollo.planning;
import "modules/common_msgs/basic_msgs/header.proto";
message PadMessage {
optional apollo.common.Header header = 1;
enum DrivingAction {
NONE = 100;
FOLLOW = 0;
CHANGE_LEFT = 1;
CHANGE_RIGHT = 2;
PULL_OVER = 3;
STOP = 4;
RESUME_CRUISE = 5;
};
// driving action
optional DrivingAction action = 2;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/planning_msgs/decision.proto
|
syntax = "proto2";
package apollo.planning;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/vehicle_signal.proto";
import "modules/common_msgs/routing_msgs/routing.proto";
message TargetLane {
// lane id
optional string id = 1;
optional double start_s = 2; // in meters
optional double end_s = 3; // in meters
optional double speed_limit = 4; // in m/s
}
message ObjectIgnore {}
enum StopReasonCode {
STOP_REASON_HEAD_VEHICLE = 1;
STOP_REASON_DESTINATION = 2;
STOP_REASON_PEDESTRIAN = 3;
STOP_REASON_OBSTACLE = 4;
STOP_REASON_PREPARKING = 5;
STOP_REASON_SIGNAL = 100; // only for red signal
STOP_REASON_STOP_SIGN = 101;
STOP_REASON_YIELD_SIGN = 102;
STOP_REASON_CLEAR_ZONE = 103;
STOP_REASON_CROSSWALK = 104;
STOP_REASON_CREEPER = 105;
STOP_REASON_REFERENCE_END = 106; // end of the reference_line
STOP_REASON_YELLOW_SIGNAL = 107; // yellow signal
STOP_REASON_PULL_OVER = 108; // pull over
STOP_REASON_SIDEPASS_SAFETY = 109;
STOP_REASON_PRE_OPEN_SPACE_STOP = 200;
STOP_REASON_LANE_CHANGE_URGENCY = 201;
STOP_REASON_EMERGENCY = 202;
}
message ObjectStop {
optional StopReasonCode reason_code = 1;
optional double distance_s = 2; // in meters
// When stopped, the front center of vehicle should be at this point.
optional apollo.common.PointENU stop_point = 3;
// When stopped, the heading of the vehicle should be stop_heading.
optional double stop_heading = 4;
repeated string wait_for_obstacle = 5;
}
// dodge the obstacle in lateral direction when driving
message ObjectNudge {
enum Type {
LEFT_NUDGE = 1; // drive from the left side to nudge a static obstacle
RIGHT_NUDGE = 2; // drive from the right side to nudge a static obstacle
DYNAMIC_LEFT_NUDGE = 3; // drive from the left side to nudge a dynamic obstacle
DYNAMIC_RIGHT_NUDGE = 4; // drive from the right side to nudge a dynamic obstacle
};
optional Type type = 1;
// minimum lateral distance in meters. positive if type = LEFT_NUDGE
// negative if type = RIGHT_NUDGE
optional double distance_l = 2;
}
message ObjectYield {
optional double distance_s = 1; // minimum longitudinal distance in meters
optional apollo.common.PointENU fence_point = 2;
optional double fence_heading = 3;
optional double time_buffer = 4; // minimum time buffer required after the
// obstacle reaches the intersect point.
}
message ObjectFollow {
optional double distance_s = 1; // minimum longitudinal distance in meters
optional apollo.common.PointENU fence_point = 2;
optional double fence_heading = 3;
}
message ObjectOvertake {
optional double distance_s = 1; // minimum longitudinal distance in meters
optional apollo.common.PointENU fence_point = 2;
optional double fence_heading = 3;
optional double time_buffer = 4; // minimum time buffer required before the
// obstacle reaches the intersect point.
}
message ObjectSidePass {
enum Type {
LEFT = 1;
RIGHT = 2;
};
optional Type type = 1;
}
// unified object decision while estop
message ObjectAvoid {}
message ObjectStatus {
optional ObjectMotionType motion_type = 1;
optional ObjectDecisionType decision_type = 2;
}
message ObjectStatic {}
message ObjectDynamic {}
message ObjectMotionType {
oneof motion_tag {
ObjectStatic static = 1;
ObjectDynamic dynamic = 2;
}
}
message ObjectDecisionType {
oneof object_tag {
ObjectIgnore ignore = 1;
ObjectStop stop = 2;
ObjectFollow follow = 3;
ObjectYield yield = 4;
ObjectOvertake overtake = 5;
ObjectNudge nudge = 6;
ObjectAvoid avoid = 7;
ObjectSidePass side_pass = 8;
}
}
message ObjectDecision {
optional string id = 1;
optional int32 perception_id = 2;
repeated ObjectDecisionType object_decision = 3;
}
message ObjectDecisions {
repeated ObjectDecision decision = 1;
}
message MainStop {
optional StopReasonCode reason_code = 1;
optional string reason = 2;
// When stopped, the front center of vehicle should be at this point.
optional apollo.common.PointENU stop_point = 3;
// When stopped, the heading of the vehicle should be stop_heading.
optional double stop_heading = 4;
optional apollo.routing.ChangeLaneType change_lane_type = 5;
}
message EmergencyStopHardBrake {}
message EmergencyStopCruiseToStop {}
message MainEmergencyStop {
// Unexpected event happened, human driver is required to take over
enum ReasonCode {
ESTOP_REASON_INTERNAL_ERR = 1;
ESTOP_REASON_COLLISION = 2;
ESTOP_REASON_ST_FIND_PATH = 3;
ESTOP_REASON_ST_MAKE_DECISION = 4;
ESTOP_REASON_SENSOR_ERROR = 5;
}
optional ReasonCode reason_code = 1;
optional string reason = 2;
oneof task {
EmergencyStopHardBrake hard_brake = 3; // hard brake
EmergencyStopCruiseToStop cruise_to_stop = 4; // cruise to stop
}
}
message MainCruise {
// cruise current lane
optional apollo.routing.ChangeLaneType change_lane_type = 1;
}
// This message is deprecated
message MainChangeLane {
enum Type {
LEFT = 1;
RIGHT = 2;
};
optional Type type = 1;
repeated TargetLane default_lane = 2;
optional MainStop default_lane_stop = 3;
optional MainStop target_lane_stop = 4;
}
message MainMissionComplete {
// arrived at routing destination
// When stopped, the front center of vehicle should be at this point.
optional apollo.common.PointENU stop_point = 1;
// When stopped, the heading of the vehicle should be stop_heading.
optional double stop_heading = 2;
}
message MainNotReady {
// decision system is not ready.
// e.g. wait for routing data.
optional string reason = 1;
}
message MainParking {
enum ParkingStatus {
// TODO(QiL): implement and expand to more enums
IN_PARKING = 1;
}
optional ParkingStatus status = 1;
}
message MainDecision {
oneof task {
MainCruise cruise = 1;
MainStop stop = 2;
MainEmergencyStop estop = 3;
MainChangeLane change_lane = 4 [deprecated = true];
MainMissionComplete mission_complete = 6;
MainNotReady not_ready = 7;
MainParking parking = 8;
}
repeated TargetLane target_lane = 5 [deprecated = true];
}
message DecisionResult {
optional MainDecision main_decision = 1;
optional ObjectDecisions object_decision = 2;
optional apollo.common.VehicleSignal vehicle_signal = 3;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/prediction_msgs/scenario.proto
|
syntax = "proto2";
package apollo.prediction;
message Scenario {
enum Type {
UNKNOWN = 0;
CRUISE = 1000;
CRUISE_URBAN = 1001;
CRUISE_HIGHWAY = 1002;
JUNCTION = 2000;
JUNCTION_TRAFFIC_LIGHT = 2001;
JUNCTION_STOP_SIGN = 2002;
}
optional Type type = 1 [default = UNKNOWN];
optional string junction_id = 2;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/prediction_msgs/prediction_point.proto
|
syntax = "proto2";
package apollo.prediction;
message PredictionPathPoint {
required double x = 1;
required double y = 2;
optional double velocity_heading = 3;
}
message PredictionTrajectoryPoint {
required PredictionPathPoint path_point = 1;
required double timestamp = 2;
}
| 0
|
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