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; }