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];
}