rebase

libraries/mogo-adas-data/build/intermediates/sourceFolderJavaResources/debug/chassis.proto

@@ -0,0 +1,41 @@
+syntax = "proto2";
+package chassis;
+
+enum GearPosition {
+  GEAR_NONE = 0;
+  GEAR_N = 1;
+  GEAR_R = 2;
+  GEAR_P = 3;
+  GEAR_D = 4;
+}
+
+enum LightSwitch {
+  LIGHT_NONE = 0;
+  LIGHT_LEFT = 1;
+  LIGHT_RIGHT = 2;
+  LIGHT_FLASH = 3;
+  LIGHT_MANUAL = 4;
+  LIGHT_AUTO = 5;
+}
+
+enum PilotMode {
+  MODE_MANUAL = 0;
+  MODE_AUTO_DRIVE = 1;
+  MODE_STEER_ONLY = 2;
+  MODE_SPEED_ONLY = 3;
+}
+
+enum LongitudeDrivingMode {
+  ManualMode = 0;
+  AutomaticStandby = 1;
+  AutomaticAcceleration = 2;
+  AutomaticDeceleration = 3;
+}
+
+enum EPSSteeringMode {
+  Manual = 0;
+  Automatic = 1;
+  ManualFromInterference = 2;
+  ManualFromEPSFailure = 3;
+  TemporaryInhibited = 4;
+}

libraries/mogo-adas-data/build/intermediates/sourceFolderJavaResources/debug/header.proto

@@ -0,0 +1,23 @@
+syntax = "proto2";
+
+package common;
+
+message Time {
+  optional uint32 sec = 1;
+  optional uint32 nsec = 2;
+}
+
+message Header {
+  // Sequence number for each message. Each module maintains its own counter for
+  // sequence_num, always starting from 1 on boot.
+  optional uint32 seq = 1;
+
+  // Message publishing time in seconds.
+  optional Time stamp = 2;
+
+  // frame id
+  optional string frame_id = 3;
+
+  // Module name.
+  optional string module_name = 4;
+}

libraries/mogo-adas-data/build/intermediates/sourceFolderJavaResources/debug/message_pad.proto

@@ -0,0 +1,277 @@
+syntax = "proto3";
+package mogo.telematics.pad;
+
+enum ProtocolVersion{
+    Defaultver = 0;
+    CurrentVersion = 1; //每次修改proto文件增加1
+}
+
+enum MessageType
+{
+    MsgTypeDefault = 0;
+
+    MsgTypeTrajectory = 0x10000; //局部轨迹,车前引导线
+    MsgTypeTrackedObjects = 0x10001; //障碍物信息
+    MsgTypeGnssInfo = 0x10002; //惯导信息
+    MsgTypeVehicleState = 0x10003; //底盘信息, 透传底盘状态，pb参考底盘
+    MsgTypeAutopilotState = 0x10004; //自动驾驶状态
+    MsgTypeReportMessage = 0x10005; //监控事件报告
+
+    MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
+    MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
+    MsgTypeSetAutopilotModeReq = 0x10102; //设置自动驾驶模式
+    MsgTypeSetDemoModeReq = 0x10103; //设置演示模式
+    MsgTypeCarConfigReq = 0x10104; //车机基础信息请求
+    MsgTypeCarConfigResp = 0x10105; //车机基础信息应答
+    MsgTypeRecordCause = 0x10106; //记录人工接管原因
+    MsgTypeRecordData = 0x10107; //数据采集请求
+    MsgTypeRecordResult = 0x10108; //数据采集结果
+    MsgTypeSetAutopilotSpeedReq = 0x10109; //设置自动驾驶最大速度
+    MsgTypeGlobalPathReq = 0x1010a; //自动驾驶路径请求
+    MsgTypeGlobalPathResp = 0x1010b; //自动驾驶路径应答
+    MsgTypeTrafficLightData = 0x1010c; //发送红绿灯数据到工控机
+    MsgTypeWarn = 0x1010d; //预警数据
+    MsgTypeArrivalNotification = 0x1010e; //到站提醒
+}
+
+message Header
+{
+    uint64 msgID = 1; //消息唯一id，自增
+    MessageType msgType = 2; //消息类型
+    double timestamp = 3; //telematics消息发送时间, 单位：秒
+    double sourceTimestamp = 4; //数据源消息发送时间, 单位：秒
+}
+
+// message definition for MsgTypeTrajectory
+message TrajectoryPoint
+{
+    double longitude = 1;
+    double latitude = 2;
+    double altitude = 3;
+    double time = 4;  //时间, 单位：秒
+    double velocity = 5;  //速度, m/s
+    double acceleration = 6; //加速度, m/s^2
+    double theta = 7;  //速度方向
+    double kappa = 8;  //曲率
+    double accumulatedDis = 9; //从起点到目前的总距离
+    double reversedAccumulatedDis = 10; //从当前到终点的距离
+}
+
+message Trajectory
+{
+    repeated TrajectoryPoint points = 1;
+}
+
+// message definition for MsgTypeTrackedObjects
+message TrackedObject
+{
+    uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle, 
+                     //5:TrafficSign, 6:Bus, 7:CellPhone, 8:Truck, 9:Bottle, 10:TrafficLight,
+                     //11:Rider, 12:TriangleRoadblock, 13:WarningTriangle, 100:Unknown
+    double longitude = 2; //经度
+    double latitude = 3; //纬度
+    double altitude = 4; //海拔
+    double systemTime = 5; //系统时间 单位：秒s
+    double satelliteTime = 6; //gps时间 单位：秒s
+    uint32 uuid = 7; //车辆id
+    string carID = 8; //车牌id
+    string color = 9; //车辆颜色
+    double heading = 10; //车辆朝向
+    double speed = 11; //车辆速度
+    uint32 drawLevel = 12; //危险等级 1 绿,2 黄,3 红
+    double driverTime = 13; //驱动感知时间
+}
+
+message TrackedObjects
+{
+    repeated TrackedObject objs = 1;
+}
+
+// message definition for MsgTypeGnssInfo
+message GnssInfo
+{
+    double longitude = 1; //经度  
+    double latitude = 2; //纬度
+    double altitude = 3; //海拔
+    double heading = 4; //航向角
+    double acceleration = 5; //加速度
+    double yawRate = 6; //曲率
+    double gnssSpeed  = 7; //惯导车速 m/s
+    double vehicleSpeed = 8; //车辆车速 m/s
+    double satelliteTime = 9; //gps时间 单位：秒s
+    double systemTime = 10; //系统时间 单位：秒s
+}
+
+// message definition for MessageType: MsgTypeVehicleState
+// refer to VehicleState in vehicle_state.proto
+
+// message definition for MessageType: MsgTypeAutopilotState
+message AutopilotState
+{
+    uint32 state = 1; //0: 不可用, 1:ready, 2:自动驾驶中
+    uint32 camera = 2; //camera节点状态 1:开启，0:关闭
+    uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
+    uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
+    uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
+    double speed = 6; //惯导车速 m/s
+    string reason = 7; //不可用原因
+}
+
+// message definition for MessageType: MsgTypeReportMessage
+// refer to mogo_report_msg.proto
+
+// message definition for MessageType: MsgTypeBasicInfoReq
+message BasicInfoReq 
+{
+}
+
+// message definition for MessageType: MsgTypeBasicInfoRsp
+message BasicInfoResp
+{
+    string sn = 1;
+    uint32 environment = 2; //1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
+}
+
+// message definition for MsgTypeSetAutopilotModeReq
+message Location
+{
+    double longitude = 1;
+    double latitude = 2;
+    double altitude = 3;
+    double heading = 4;
+}
+
+message RouteInfo{
+    Location startLocation = 1;  
+    string startName = 2;
+    Location endLocation = 3;
+    string endName = 4;
+    repeated Location wayPoints = 5;
+    double speedLimit = 6;
+    uint32 vehicleType = 7;
+    bool isSpeakVoice = 8;
+}
+
+message SetAutopilotModeReq
+{
+    uint32 mode = 1; //1: enter autopilot mode, 0: quit autopilot mode
+    uint32 source = 2; //命令来源: 0: pad模拟, 1: aicloud业务
+    RouteInfo routeInfo = 3; //自动驾驶路径信息
+}
+
+// message definition for MsgTypeSetDemoModeReq
+message SetDemoModeReq
+{
+    uint32 enable = 1; //1: enable, 0: disable
+}
+
+// message definition for MsgTypeCarConfigReq
+message CarConfigReq
+{
+}
+
+// message definition for MsgTypeCarConfigResp
+message CarConfigResp
+{
+    string dockVersion = 1;
+    string plateNumber = 2; //车牌
+    string macAddress = 3;
+    ProtocolVersion protocolVersion = 4; //通信协议版本
+    double speedLimit = 5; //自动驾驶限速, 单位：m/s
+    double maxSpeedLimit = 6; //最大自动驾驶限速, 单位：m/s 
+    double minAcceleration = 7; //最小加速度, 单位：m/s²
+    double maxAcceleration = 8; //最大加速度, 单位：m/s²
+}
+
+// message definition for MsgTypeRecordCause
+message RecordCause
+{
+    uint64 key = 1; //bag key 唯一标识
+    string filename = 2; //文件路径
+    string reason = 3; //接管原因
+    string reasonID = 4; //接管原因id
+}
+
+// message definition for MsgTypeRecordData
+message RecordData
+{
+    uint32 id = 1; //采集id
+    uint32 duration = 2; //采集时间长
+    uint32 type = 3; //采集类型, 1:badcase, 2: map; 3: rests
+    bool isRecord = 4; //采集指令, true: 采集, false: 停止采集
+    bool sustain = 5; //是否持续采集
+}
+
+// message definition for MsgTypeRecordResult
+// refer to RecordPanel in record_panel.proto
+
+// message definition for MsgTypeSetAutopilotSpeedReq
+message SetAutopilotSpeedReq
+{
+    double speedLimit = 1; //最大车辆速度, 单位：m/s
+}
+
+// message definition for MsgTypeGlobalPathReq
+message GlobalPathReq
+{
+}
+
+// message definition for MsgTypeGlobalPathResp
+message GlobalPathResp
+{
+    repeated Location wayPoints = 1; 
+}
+
+// message definition for MsgTypeTrafficLightData
+message TrafficLightStatus
+{
+    string phaseNo = 1; //相位编号
+    string color = 2; //灯态： 红灯-R，绿灯-G，绿闪-FG，黄-Y，B-黑
+    int32 remain = 3; //倒计时-秒
+}
+
+message TrafficLightDetail
+{
+    TrafficLightStatus left = 1; //左灯
+    TrafficLightStatus mid = 2; //中间灯
+    TrafficLightStatus right = 3; //右灯
+}
+
+message TrafficLightData
+{
+    string crossID = 1; //roadID
+    double latitude = 2; 
+    double longitude = 3;
+    string heading = 4; //红绿灯方向
+    string direction = 5; //路的航向角
+    int32 lightId = 6; //红绿灯ID
+    int32 laneNo = 7; //车道号
+    int32 arrowNo = 8; //当前车道对应地面要素转向
+    int32 flashYellow = 9; //黄灯总时间
+    TrafficLightDetail laneDetail = 10; //灯态具体信息
+}
+
+// message definition for MsgTypeWarn
+message Warn
+{
+    uint32 type = 1; //16: 小心行人, 17: 前车起步, 18: 左车道偏离, 19: 右车道偏离
+                     //20: 保持车距/小心前车, 23:摩托车碰撞
+                     //40: 禁止掉头, 41: 禁止左转, 42: 禁止右转, 43: 禁止鸣喇叭, 44: 禁止通行, 45: 限速%d
+    string content = 2; //words describe type
+    uint32 level = 3; //1:low 2:high
+    string value = 4; //reserved
+}
+
+// message definition for MsgTypeArrivalNotification
+message ArrivalNotification
+{
+    uint32 carType = 1;
+    Location endLocation = 2;
+}
+
+
+
+
+
+
+

libraries/mogo-adas-data/build/intermediates/sourceFolderJavaResources/debug/mogo_report_msg.proto

@@ -0,0 +1,21 @@
+syntax = "proto2";
+package mogo_msg;
+
+message MogoMsgTimestamp {
+    required fixed32 sec = 1;
+    required fixed32 nsec = 2;
+}
+
+message MogoReportMessage {
+    required MogoMsgTimestamp timestamp = 1; //来自消息源的时间戳，转发消息时不应修改
+    required string src = 2;                //消息来源
+    required string level = 3;              //error  info
+    optional string msg = 4;                //研发自己看的信息；对标准日志来说就是日志内容
+    optional string code = 5;               //error日志中的错误原因，这是一个类似宏的受约束字段，用字符串的目的是便于排查问题时查看
+
+    repeated string result = 6;             //带来的后果；例如pad无法启动驾驶，远程驾驶无法启动等；可供监控后台做错误分类；pad无法理解code时也可参考此字段
+
+    repeated string actions = 16;           //试验性字段。消息发出者希望触发的动作，例如：触发短信报警，自动创建工单，要求pad弹框等
+}
+
+

libraries/mogo-adas-data/build/intermediates/sourceFolderJavaResources/debug/record_panel.proto

@@ -0,0 +1,35 @@
+syntax = "proto2";
+
+package record_cache;
+
+import "header.proto";
+
+message RecordItem {
+  optional string topic = 1; //topic name of record data
+  optional int32 nums = 2; //quantity of this topic's data
+}
+
+message TriggerInfo {
+  required bool auto_trig = 1; //trigger mode: true - auto trig when autopilot mode turn to handle | false - subscribe topic to trig 
+  optional string trig_topic = 2; //name of topic used to trig(mode is 0 available)
+  optional string trig_msg = 3; //topic message(mode is 0 available)
+}
+
+message RecordPanel {
+  optional common.Header header = 1;
+  optional int32 stat = 2; //record stat：100 - record succeed,auto stop | 101 - record succeed,handle stop | 200 - record failed
+  optional int64 disk_free = 3; //disk space available
+  optional int64 total_size = 4; //space used by bag 
+  optional string timestamp = 5; //timestamp
+  optional float duration = 6; //data duration
+  optional TriggerInfo triggerinfo = 7; //information of trigger
+  optional string filename = 8; //bag's filename
+  repeated RecordItem records = 9; //information of each topic's record
+  optional string note = 10; //other message(warn,error or other message included)
+  optional int32 type = 11;
+  optional int32 id = 12;
+  required uint64 key = 13;
+  repeated string topics = 14;
+}
+
+

libraries/mogo-adas-data/build/intermediates/sourceFolderJavaResources/debug/vehicle_state.proto

@@ -0,0 +1,41 @@
+syntax = "proto2";
+package chassis;
+
+import "header.proto";
+import "chassis.proto";
+
+message VehicleState {
+    optional common.Header header = 1;
+    optional chassis.PilotMode pilot_mode = 2 [default = MODE_MANUAL];
+    optional float steering = 3 [default = 0]; // steering angle in degrees
+    optional float speed = 4 [default = 0];    // speed in m/s
+    optional float accel = 5 [default = 0];    // target acceleration in m/s^2
+    optional float throttle = 6 [default = 0]; // target throttle in percentage [0, 100]
+    optional float brake = 7 [default = 0];    // target brake in percentage [0, 100]
+
+    optional chassis.GearPosition gear = 8 [default = GEAR_NONE];
+    optional chassis.LightSwitch light = 9 [default = LIGHT_NONE];
+
+    //TODO: move to chassis
+    optional bool horn = 10 [default = false];         //鸣笛
+    optional bool highbeam = 11 [default = false];     //远光灯
+    optional bool lowbeam = 12 [default = false];      //近光灯
+    optional bool foglight = 13 [default = false];     //雾灯
+    optional bool clearance_lamps = 14 [default = false];  //示廓灯
+    optional bool warn_light = 15 [default = false];   //报警灯
+    optional bool parking_brake = 16 [default = false];
+
+    optional chassis.LongitudeDrivingMode longitude_driving_mode = 20;
+    optional chassis.EPSSteeringMode eps_steering_mode = 21;
+    optional uint32 steering_sign = 22;
+
+    optional bool steer_inference = 23 [default = false]; //方向盘干预
+    optional bool brake_inference = 24 [default = false]; //制动踏板干预
+    optional bool accel_inference = 25 [default = false]; //加速踏板干预
+    optional bool gear_switch_inference = 26 [default = false]; //档位切换干预 
+    optional bool location_missing = 27 [default = false]; //未收到定位
+    optional bool trajectory_missing = 28 [default = false]; //未收到轨迹
+    optional bool chassis_status_missing = 29 [default = false]; //未收到车辆底盘反馈信息
+    optional bool brake_light_status = 30 [default = false]; //自驾模式下制动灯状态
+    optional bool pilot_mode_condition_met = 31 [default = false];
+}