943 lines
39 KiB
Protocol Buffer
943 lines
39 KiB
Protocol Buffer
syntax = "proto3";
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package mogo.telematics.pad;
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import "geometry.proto";
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enum ProtocolVersion
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{
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Defaultver = 0;
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CurrentVersion = 10; //每次修改proto文件增加1
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}
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enum MessageType
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{
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MsgTypeDefault = 0;
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//透传消息列表，不需要明确消息定义, 仅作记录，供鹰眼使用
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MsgTypePlanningDecisionState = 0x00001; //planning决策状态, 透传 定频10hz
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MsgTypeSweeperTaskIndexData = 0x00002; //清扫车指标数据 定频10hz
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MsgTypeObuWarningData = 0x00003; //obu预警事件 不定频
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MsgTypeCameraCalibCheckData30 = 0x01001; //相机标定检查视频, 10hz, jpeg. image_raw_30
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MsgTypeCameraCalibCheckData60 = 0x01002; //相机标定检查视频, 10hz, jpeg. image_raw_60
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MsgTypeCameraCalibCheckData120Front = 0x01003; //相机标定检查视频, 10hz, jpeg. image_raw_120
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MsgTypeCameraCalibCheckData120Back = 0x01004; //相机标定检查视频, 10hz, jpeg. image_raw_back
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MsgTypeCameraCalibCheckData120Left = 0x01005; //相机标定检查视频, 10hz, jpeg. image_raw_left
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MsgTypeCameraCalibCheckData120Right = 0x01006; //相机标定检查视频, 10hz, jpeg. image_raw_right
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MsgTypeTrajectory = 0x10000; //局部轨迹,车前引导线 定频10hz
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MsgTypeTrackedObjects = 0x10001; //障碍物信息 定频10hz
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MsgTypeGnssInfo = 0x10002; //惯导信息 定频20hz
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MsgTypeVehicleState = 0x10003; //底盘信息, 透传底盘状态，pb参考底盘 定频20hz
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MsgTypeAutopilotState = 0x10004; //自动驾驶状态 定频20hz
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MsgTypeReportMessage = 0x10005; //系统事件 不定频
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MsgTypePerceptionTrafficLight = 0x10006; //融合感知红绿灯 定频10hz
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MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测 定频10hz
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MsgTypePointCloud = 0x10008; //点云透传 定频1hz
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MsgTypePlanningObjects = 0x10009; //planning障碍物 定频10hz
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MsgTypeOBU = 0x1000a; //OBU红绿灯, 宜宾df专用, 非常态, 有则定频10hz
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MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传 定频20hz
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MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传 定频1hz
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MsgTypeBackCameraVideo = 0x1000d; //清扫车后部摄像头视频 定频10hz
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MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 定频10hz
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MsgTypeSSMState = 0x1000f; //ssm 系统状态 定频1hz hq m1 MAP350开始支持，其他车型MAP360开始支持
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MsgTypeFMState = 0x10010; //FM状态 定频1hz bus和清扫车是MAP370开始支持，其他车型MAP360开始支持
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MsgTypeFSM2024State = 0x10011; //20240531 FSM状态 定频10hz （telematics做状态变化判断，无变化10hz上报，有变化立即上报） BUS MAP440开始支持，其他车型暂未支持
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MsgTypeLocState = 0x10012; //定位呈现状态透传 用于pad图标显示 1hz 所有车型MAP440开始支持
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MsgTypeCloudRegulatoryWarning = 0x10013; //云控监管预警信息上报
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//### 以下消息全部不定频 ###
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MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
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MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
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MsgTypeSetAutopilotModeReq = 0x10102; //设置自动驾驶模式
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MsgTypeSetDemoModeReq = 0x10103; //设置演示模式
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MsgTypeCarConfigReq = 0x10104; //车机基础信息请求
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MsgTypeCarConfigResp = 0x10105; //车机基础信息应答
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MsgTypeRecordCause = 0x10106; //记录人工接管原因
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MsgTypeRecordData = 0x10107; //数据采集请求
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MsgTypeRecordResult = 0x10108; //数据采集结果
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MsgTypeSetAutopilotSpeedReq = 0x10109; //设置自动驾驶最大速度
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MsgTypeGlobalPathReq = 0x1010a; //自动驾驶路径请求
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MsgTypeGlobalPathResp = 0x1010b; //自动驾驶路径应答
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MsgTypeTrafficLightData = 0x1010c; //发送红绿灯数据到工控机 废弃
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MsgTypeWarn = 0x1010d; //预警数据 废弃
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MsgTypeArrivalNotification = 0x1010e; //到站提醒
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MsgTypeSystemCmdReq = 0x1010f; //系统命令请求, 比如系统重启，启用新镜像
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MsgTypeTrajectoryDownloadReq = 0x10110; //轨迹下载请求
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MsgTypeStatusQueryReq = 0x10111; //状态查询请求
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MsgTypeStatusQueryResp = 0x10112; //状态查询应答
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MsgTypeSetRainModeReq = 0x10113; //设置雨天模式
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MsgTypeRecordDataConfigReq = 0x10114; //数据采集配置查询请求
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MsgTypeRecordDataConfigResp = 0x10115; //数据采集配置查询应答
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MsgTypeOperatorCmdReq = 0x10116; //操控指令
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MsgTypeSubscribeDataReq = 0x10117; //数据订阅、取消订阅请求
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MsgTypeSpecialVehicleTaskCmd = 0x10118; //特种车辆命令
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MsgTypeSetParamReq = 0x10119; //设置参数命令
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MsgTypeTripInfoEvent = 0x1011a; //行程信息
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MsgTypeBagManagerCmd = 0x1011b; //bag管理
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MsgTypePlanningCmd = 0x1011c; //给planning的指令
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MsgTypeSetParamReqV2 = 0x1011d; //设置参数命令V2
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MsgTypeV2nCongestionEvent = 0x1011e; //主车附近拥堵事件推送, 透传
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MsgTypeV2nGlobalPathEvents = 0x1011f; //主车路径全局事件推送, 透传
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MsgTypeGetParamReq = 0x10120; //参数获取请求
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MsgTypeGetParamResp = 0x10121; //参数获取应答
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MsgTypeTaskCmd = 0x10122; //云控任务指令, 云控<->鹰眼双向透传
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MsgTypeFSMStatusReasonQueryReq = 0x10123; //fsm状态原因查询
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MsgTypeFSMStatusReasonQueryResp = 0x10124; //fsm状态原因查询应答
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MsgTypeGetDebugInfo = 0x10125; //debug信息查询 pad->telematics
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MsgTypeParallelDrivingCmd = 0x10126; //无人化场景，平行驾驶请求相关指令及状态反馈, 云控<->鹰眼双向透传
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MsgTypeReceivedAck = 0x10127; //消息接收ack, 表示消息已接收到
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MsgTypeV2nNioGreenWavePassageEvent = 0x10128; //绿波通行（单路口）事件推送, 透传
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MsgTypeV2nNioCrossoverEvent = 0x10129; //行人横穿（路侧）事件推送, 透传
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MsgTypeV2nNioOtherRetrogradeEvent = 0x1012a; //他车逆行（路侧）事件推送, 透传
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MsgTypeV2nNioCongestionEvent = 0x1012b; //拥堵事件推送, 透传
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MsgTypeLaneMarksTran = 0x1012c;//车道线上传
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MsgTypeCollisionReport = 0x1012d;//碰撞上报
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MsgTypePowerUnit = 0x1012e;//电源模块通信
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MsgTypeSSMFuncMsg = 0x1012f;//SSM功能(上下行)
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MsgTypeSSMFuncStatusQuery = 0x10130;//SSM功能状态查询及返回(上下行)
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}
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message Header
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{
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uint64 msgID = 1; //消息唯一id，自增
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MessageType msgType = 2; //消息类型
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double timestamp = 3; //消息发送时间, 单位：秒
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double sourceTimestamp = 4; //数据源消息发送时间, 单位：秒
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uint32 needAck = 5; //是否需要接收回执,仅重要消息使用 0: 不需要 1: 需要
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}
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// message definition for MsgTypeReceivedAck
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message ReceivedAck
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{
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repeated uint64 msgids = 1; //确认收到的msgid列表
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}
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// message definition for MsgTypeV2nNioGreenWavePassageEvent
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message V2nCrossSpeed
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{
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//直行
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uint32 speed_straight_min = 1;
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uint32 speed_straight_max = 2;
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//左转
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uint32 speed_left_min = 3;
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uint32 speed_left_max = 4;
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//右转
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uint32 speed_right_min = 5;
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uint32 speed_right_max = 6;
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//车道限速
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uint32 max_speed = 7;
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//限速来源 0融合 1默认
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uint32 max_status = 8;
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//路口经度
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double lng = 9;
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//路口纬度
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double lat = 10;
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}
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// message definition for MsgTypeV2nNioCongestionEvent
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message V2nCongestion
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{
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// 消息时间,发送消息时间戳，单位毫秒
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uint64 msg_time = 1;
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// 消息名称
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string msg_name = 2;
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// 数据源，0:路侧设备、1:人工上报、2:地图、3:三方数据源
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uint32 data_source = 3;
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// 路段拥堵详情
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repeated CongestionInfo infos = 4;
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}
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message Geo{
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// 经度
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double lon = 1;
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// 维度
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double lat = 2;
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}
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message EventLocationGeo{
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//开始经度--队头
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double startLng = 1;
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//开始纬度--队头
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double startLat = 2;
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//结束经度 -- 队尾
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double endLng = 3;
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//结束纬度 --队尾
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double endLat =4;
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// 事件区域--- 车道中心线的坐标
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repeated Geo regions = 5;
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}
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message TimePeriod{
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// 事件开始时间，UTC+0 时间戳，精确到毫秒
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uint64 start_time = 1;
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// 事件结束时间，UTC+0 时间戳，精确到毫秒，没有传 0
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uint64 end_time = 2;
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// 事件更新时间，UTC+0 时间戳，精确到毫秒，没有传 0
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uint64 update_time = 3;
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// 事件确认时间，UTC+0 时间戳，精确到毫秒，没有传 0
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uint64 confirm_time = 4;
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}
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message CongestionInfo
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{
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// 事件状态，0:消散、1:生成
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uint32 data_status = 1;
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// 事件时间相关信息
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TimePeriod time_period = 2;
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// 事件发生位置的经纬度信息
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EventLocationGeo event_location_geo = 3;
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//事件发生的原始照片
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repeated string img_file_key = 4;
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// 事件类型, 101 施工、 102 三角牌, 103 静止车,104 拥堵
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uint32 event_type = 5;
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// 事件唯一性
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string msg_uuid = 6;
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// 拥堵等级 1，畅通，2，缓行，3，拥堵，4，严重拥堵
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uint32 congestion_level = 7;
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// 车道号
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uint32 lane_no = 8;
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// 拥堵细类 0，路段拥堵，1 路口拥堵
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uint32 congestion_type = 9;
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// 车道方向，正北是0，顺时针方向
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double bearing = 10;
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// 如果拥堵细类是路口，则有该路口中心点坐标
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double lon = 11;
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double lat = 12;
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// 视频地址 2024-06-03新增字段
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string video_url = 13;
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// 来源ip 2024-06-03 新增字段
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string camera_ip = 14;
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}
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enum EventType
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{
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CONVERSE_RUNNING = 0;//逆行/倒车
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SLOW_RUNNING = 1;//慢行
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SPEEDING_RUNNING = 2;//快行
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EMERGENCY_BRAKING = 3;//紧急制动
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ABNORMAL_PARKING = 4;//异常停车
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NON_VEHICLE_INTRUSION = 5;//行人/非机动车闯入
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}
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// message definition for MsgTypeV2nNioCrossoverEvent / MsgTypeV2nNioOtherRetrogradeEvent
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message Event
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{
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uint32 channelId = 1; //渠道来源，mogo默认10
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uint64 rcuId = 2; //平台未维护，暂用基站号
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EventType eventType = 3; //事件类别
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uint32 confidence = 4; //事件置信度
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uint32 gnssType = 5; //坐标系类型， 0:GCJ02坐标系，2:WGS84坐标系
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double longitude = 6;
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double latitude = 7;
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uint64 timestamp = 8; //时间戳
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string eventId = 9; // 事件id
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string exts = 10; //扩展字段，传递相机ip，{"cameraIp":"172.18.7.40"}
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uint32 targetIdsLen = 11; //事件关联的目标对象uuid个数
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repeated string targetIds = 12; //事件关联的目标对象uuid列表
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}
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// message definition for MsgTypeTrajectory
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message TrajectoryPoint
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{
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double longitude = 1;
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double latitude = 2;
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double altitude = 3;
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double time = 4; //时间, 单位：秒
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double velocity = 5; //速度, m/s
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double acceleration = 6; //加速度, m/s^2
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double theta = 7; //速度方向
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double kappa = 8; //曲率
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double accumulatedDis = 9; //从起点到目前的总距离
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double reversedAccumulatedDis = 10; //从当前到终点的距离
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}
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// message definition for MsgTypeCloudRegulatoryWarning
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message CloudRegulatoryWarning
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{
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repeated CloudRegulatoryWarningInner cloudRegulatoryWarnings = 1;
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}
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message CloudRegulatoryWarningInner
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{
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uint32 type = 1; //0:车辆位置异常 1:自动驾驶脱离 2:超速行驶 3:非机动车逆行
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string desc = 2;
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}
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message Trajectory
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{
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repeated TrajectoryPoint points = 1;
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}
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enum AdditionalAttribute
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{
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ATTR_UNKNOWN = 0;
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ATTR_ZOMBIE = 1; // 僵尸车
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ATTR_ROAD_CONSTRUCTION = 2; // 道路施工区域
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ATTR_STATIC = 3; // 静止障碍物
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ATTR_ACCIDENT = 4; // 事故车
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ATTR_ROAD_CONGESTION = 5; // 车辆拥堵
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}
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// message definition for MsgTypeTrackedObjects
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message SubSource
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{
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uint32 source = 1; // TrackedSource=1:1-lidar 2-camera 3-radar 4-vidar 5-falcon
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// TrackedSource=2:1-v2v_bsm 2-v2i_rsm 3-v2v_ssm 4-v2n_rsm 5-v2n_rsi 6-v2i_ssm 7-v2i_rsi 8-v2n_rsm_2
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string id = 2; //HEX_string -bsm_id
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}
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message TrackedSource
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{
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uint32 source = 1; // 1-car 2-v2x
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repeated SubSource sub_source = 2;
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}
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message TrackedObject
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{
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uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle,
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//5:TrafficSign, 6:Bus, 7:CellPhone, 8:Truck, 9:Bottle, 10:TrafficLight,
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//11:Rider, 12:TriangleRoadblock, 13:WarningTriangle, 100:Unknown,
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//447:TAILBACK 501:RoadWork_occupy_0501, 502:RoadWork_break_0502,
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//707:ROAD_CONGESTION
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double longitude = 2; //经度
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double latitude = 3; //纬度
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double altitude = 4; //海拔
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double systemTime = 5; //系统时间 单位：秒s
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double satelliteTime = 6; //gps时间 单位：秒s
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uint32 uuid = 7; //车辆id
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string carID = 8; //车牌id
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string color = 9; //车辆颜色
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double heading = 10; //车辆朝向
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double speed = 11; //车辆速度
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uint32 drawLevel = 12; //危险等级 1 绿,2 黄,3 红
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double driverTime = 13; //驱动感知时间, abandoned
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repeated TrackedSource tracked_source = 14;
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repeated Location polygon = 15;
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geometry.Point center = 16;
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AdditionalAttribute add_attribute = 17; //事件类型
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double angle = 18; //相对于自车x轴的角度，左正右负
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repeated string image_url = 19; //事件发生的原始照片
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string video_url = 20; //事件发生的原始视频
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string camera_ip = 21; //来源IP
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uint64 detect_start_time = 22; //V2N事件生成UTC时间，单位毫秒
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string v2x_uuid = 23; //V2X目标uuid
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reserved 24 to 100;
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string strUuid = 101;//String类型车辆ID
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}
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message LocalizationInfo
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{
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double stamp = 1; //seconds
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float longitude = 2;
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float latitude = 3;
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float alt = 4;
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float heading = 5;
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}
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message BlindAreaData
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{
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float angleResolution = 1; //degrees
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repeated int32 distances = 2; //unit: cm
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LocalizationInfo localizationInfo = 3;
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float maxRange = 4; //unit: m
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}
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message TrackedObjects
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{
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repeated TrackedObject objs = 1;
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BlindAreaData blindAreaData = 2;
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uint32 collision_risk = 3; //0: no risk 1: risk with a < -5m/s2 2: collision detected
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}
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// message definition for MsgTypeGnssInfo
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message GnssInfo
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{
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double longitude = 1; //经度
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double latitude = 2; //纬度
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double altitude = 3; //海拔
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double heading = 4; //航向角
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double acceleration = 5; //加速度
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double yawRate = 6; //曲率
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double gnssSpeed = 7; //惯导车速 m/s
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double vehicleSpeed = 8; //车辆车速 m/s
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||
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(abandoned), 1:ready, 2:自动驾驶中, 7:平行驾驶中
|
||
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, 6:平行驾驶
|
||
double speed = 6; //惯导车速 m/s
|
||
string reason = 7; //不可用原因(abandoned)
|
||
}
|
||
|
||
// message definition for MessageType: MsgTypeReportMessage
|
||
// refer to mogo_report_msg.proto
|
||
|
||
// message definition for MessageType: MsgTypePerceptionTrafficLight
|
||
// refer to fusion_traffic_light.proto
|
||
|
||
// message definition for MessageType: MsgTypePredictionObstacleTrajectory
|
||
// refer to prediction.proto
|
||
|
||
// message definition for MessageType: MsgTypePointCloud
|
||
// refer to mogo_point_cloud.proto
|
||
|
||
// message definition for MessageType: MsgTypePlanningObjects
|
||
message PlanningObject
|
||
{
|
||
uint32 uuid = 1;
|
||
uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事 0是leading障碍物，1是避障和择机的障碍物
|
||
}
|
||
|
||
message PlanningObjects
|
||
{
|
||
repeated PlanningObject objs = 1;
|
||
}
|
||
|
||
// message definition for MessageType: MsgTypeOBU
|
||
// refer to obu.proto
|
||
|
||
|
||
// message definition for MsgTypeTrajectoryDownloadReq
|
||
message Line
|
||
{
|
||
uint64 lineId = 1; //路线id，默认-1
|
||
string trajUrl = 2; //轨迹文件下载的cos url，默认“”
|
||
string trajMd5 = 3; //轨迹文件md5，默认“”
|
||
string stopUrl = 4; //打点文件下载的cos url，默认“”
|
||
string stopMd5 = 5; //轨迹文件md5，默认“”
|
||
uint64 timestamp = 6; //上传轨迹完成时间戳(ms)：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
|
||
string vehicleModel = 7; //车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
|
||
string trajUrl_dpqp = 8; //轨迹文件下载的cos url，默认“”
|
||
string trajMd5_dpqp = 9; //轨迹文件md5，默认“”
|
||
string stopUrl_dpqp = 10; //打点文件下载的cos url，默认“”
|
||
string stopMd5_dpqp = 11; //轨迹文件md5，默认“”
|
||
uint64 timestamp_dpqp = 12; //上传轨迹完成时间戳(ms)：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
|
||
string lineName = 13; //路线名
|
||
}
|
||
|
||
message TrajectoryDownloadReq
|
||
{
|
||
Line line = 1; //路线
|
||
uint32 source = 2; //指令来源: 0: default, 1:pad, 2:aicloud
|
||
uint32 downloadType = 3; //下载类型: 0:正常下载 1:预下载
|
||
|
||
RouteInfo routeInfo = 4; //20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！（Line信息重复）
|
||
}
|
||
|
||
// message definition for MessageType: MsgTypeBasicInfoReq
|
||
message BasicInfoReq
|
||
{
|
||
bytes certification = 1;//域控ssl证书
|
||
}
|
||
|
||
// message definition for MessageType: MsgTypeBasicInfoResp
|
||
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
|
||
uint32 role = 3; //客户端角色：0: 司机屏，1: 乘客屏，2: 调试屏
|
||
string version = 4; //鹰眼版本
|
||
bytes certification = 5; //鹰眼ssl证书
|
||
}
|
||
|
||
// message definition for MsgTypeSetAutopilotModeReq
|
||
message Location
|
||
{
|
||
double longitude = 1;
|
||
double latitude = 2;
|
||
double altitude = 3;
|
||
double heading = 4;
|
||
|
||
bool station = 5; //20240523， 判断此点是中间站点还是途径点 ------- true：站点， false：简单的途径点
|
||
}
|
||
|
||
message RouteInfo
|
||
{
|
||
Location startLocation = 1;
|
||
string startName = 2;
|
||
Location endLocation = 3;
|
||
string endName = 4;
|
||
repeated Location wayPoints = 5;
|
||
double speedLimit = 6; //单位: km/h
|
||
uint32 vehicleType = 7;
|
||
bool isSpeakVoice = 8; //abandoned
|
||
uint32 routeID = 9;
|
||
string routeName = 10;
|
||
Line line = 11; //路线信息，原有轨迹线路信息
|
||
|
||
repeated Location blackPoints = 12; //20240523 不让走的道路，异常线路点
|
||
bool isStation = 13; //20240523 用于表示判断是否是站点下单。默认false：起点下单，接管下单； true: 中间站点下单
|
||
}
|
||
|
||
message CmdInfo {
|
||
bool first_autopilot_flag = 1; // 是否首次进自驾
|
||
string order_id = 2; // 订单号
|
||
}
|
||
|
||
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: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
|
||
RouteInfo routeInfo = 3; //自动驾驶路径信息
|
||
uint64 sessionId = 4; //autopilot cmd session ID
|
||
CmdInfo cmd_info = 5; //自驾命令信息
|
||
}
|
||
|
||
// 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
|
||
string carType = 9; //车辆类型
|
||
string subCarType = 10; //车辆子类型
|
||
string vinCode = 11;//车辆vin码 taxi: 420 bus: 440
|
||
reserved 12 to 100;
|
||
int32 mapVersion = 101;//dockVersion解析出版本号，仅用于版本对比，解析失败为-1。例如："MAP-taxi_RoboTaxi_df_2.8.0.3_20220928_test" 解析结果为：20800
|
||
bool isDF = 102;//车型是否是东风
|
||
bool isHQ = 103;//车型是否是红旗
|
||
bool isJinlv = 104;//车型是否是金旅小巴
|
||
bool isJinlvM1 = 105;//车型是否是金旅M1
|
||
bool isJinlvM2 = 106;//车型是否是金旅M2
|
||
bool isFutianSweeper = 107;//车型是否是福田清扫车
|
||
bool isKaiwo = 108;//车型是否是开沃
|
||
}
|
||
|
||
// 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
|
||
uint32 bduration = 6; //前溯时长
|
||
repeated string topics = 7; //topic列表
|
||
}
|
||
|
||
// 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;
|
||
uint64 lineId = 2; //路线id
|
||
}
|
||
|
||
// 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
|
||
uint64 timestamp = 11;//当前卫星时间, 单位: ms
|
||
}
|
||
|
||
// 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; //abandoned
|
||
Location endLocation = 2;
|
||
}
|
||
|
||
// message definition for MsgTypeSystemCmdReq
|
||
enum SystemCmdType
|
||
{
|
||
SYSTEMCMD_NONE = 0;
|
||
SYSTEMCMD_REBOOT = 1;
|
||
SYSTEMCMD_START_NODE = 2;
|
||
SYSTEMCMD_STOP_NODE = 3;
|
||
SYSTEMCMD_POWER_OFF = 4;//MAP 410上线
|
||
}
|
||
|
||
message SystemCmdReq
|
||
{
|
||
SystemCmdType cmdType = 1;
|
||
uint32 node = 2; //0: default, 1: 前向camera 30 2: lidar 3: 左前radar 4: calib_check node（MAP 410上线）
|
||
}
|
||
|
||
// message definition for MsgTypeStatusQueryReq
|
||
message StatusQueryReq
|
||
{
|
||
}
|
||
|
||
// message definition for MsgTypeStatusQueryResp
|
||
// refer to system_status_info.proto
|
||
|
||
// message definition for MsgTypeSetRainModeReq
|
||
message SetRainModeReq
|
||
{
|
||
uint32 enable = 1; //1: enable, 0: disable
|
||
}
|
||
|
||
// message definition for MsgTypeRecordDataConfigReq
|
||
message RecordDataConfigReq
|
||
{
|
||
uint32 reqType = 1; // 0: all, 1:获取当前所有topic列表, 2:配置需要预加载的topic组合
|
||
uint32 recordType = 2; // 0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
|
||
repeated string topicsNeedToCache = 3;
|
||
}
|
||
|
||
// message definition for MsgTypeRecordDataConfigResp
|
||
message RecordDataType
|
||
{
|
||
uint32 id = 1; //采集类型id
|
||
string desc = 2; //采集类型描述
|
||
repeated string topics = 3; //采集类型必须采集的topic列表
|
||
}
|
||
|
||
message RecordDataConfig
|
||
{
|
||
repeated RecordDataType recordTypes = 1;
|
||
repeated string allTopics = 2; //当前所有topic列表
|
||
}
|
||
|
||
// message definition for MsgTypeSubscribeDataReq
|
||
message SubscribeDataReq
|
||
{
|
||
uint32 role = 1; //客户端角色：0: 司机屏，1: 乘客屏，2: 调试屏
|
||
uint32 reqType = 2; //1:订阅, 2:取消订阅
|
||
repeated uint32 dataTypes = 3; //订阅/取消订阅的消息类型列表, 透传的消息类型参考配置列表，其他消息类型见MsgType
|
||
}
|
||
|
||
// message definition for MsgTypeOperatorCmdReq
|
||
enum OperatorCmdType
|
||
{
|
||
OPERATOR_CMD_NONE = 0;
|
||
OPERATOR_CMD_CHANGE_LANE = 1;
|
||
OPERATOR_CMD_SET_ACCELERATED_SPEED = 2;
|
||
OPERATOR_CMD_SET_HORN = 3;
|
||
OPERATOR_CMD_SEND_LANE_MARKS = 4;
|
||
}
|
||
|
||
message OperatorCmdReq
|
||
{
|
||
OperatorCmdType cmdType = 1;
|
||
double value = 2; //OPERATOR_CMD_CHANGE_LANE: 1: left 2: right
|
||
//OPERATOR_CMD_SET_ACCELERATED_SPEED: accelerated speed
|
||
//OPERATOR_CMD_SET_HORN: 1: honk 2: stop honking
|
||
//OPERATOR_CMD_SEND_LANE_MARKS 0: 开始发送车道线 1:结束发送车道线
|
||
}
|
||
|
||
//message definition for MsgTypePlanningDecisionState
|
||
enum DrivingState
|
||
{
|
||
NO_AUTODRIVING = 0; //不在自动驾驶状态
|
||
LANKE_KEEP = 1; //车道保持状态
|
||
TRAFFIC_LIGHT = 2; //红绿灯通行状态： driving_action：1 表示停止动作；driving_action:2 表示通行动作
|
||
FOLLOW_LANE_CHANGE_LEFT = 3; //follow全局择机向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示择机保持；driving_action:3 表示变道完成
|
||
FOLLOW_LANE_CHANGE_RIGHT = 4; //follow全局择机向右变道状态: driving_action：1 表示触发变道；driving_action:2 表示择机保持；driving_action:3 表示变道完成
|
||
AUTO_LANE_CHANGE_LEFT = 5; //主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
AUTO_LANE_CHANGE_RIGHT = 6; //主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
LANE_AVOID_LEFT = 7; //主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
LANE_AVOID_RIGHT = 8; //主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
START_UP = 9; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步
|
||
PULL_OVER = 10; //靠边停车状态： driving_action：1 表示正常靠边停车；driving_action:2 表示择机靠边停车
|
||
UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应
|
||
|
||
AUTO_LANE_CHANGE_LEFT_V2N = 12; //V2N主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
AUTO_LANE_CHANGE_RIGHT_V2N = 13; //V2N主动向右变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
LANE_AVOID_LEFT_V2N = 14; //V2N主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
LANE_AVOID_RIGHT_V2N = 15; //V2N主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
WAITING_V2N = 16; //V2N正在等待变道避让施工场景/静止障碍物: driving_action：1 表示正在等待；driving_action:2 表示等待超时请求平行驾驶；
|
||
|
||
AUTO_LANE_CHANGE_LEFT_RSI = 17; //V2N RSI主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
AUTO_LANE_CHANGE_RIGHT_RSI = 18; //V2N RSI主动向右变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
LANE_AVOID_LEFT_RSI = 19; //V2N RSI主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
LANE_AVOID_RIGHT_RSI = 20; //V2N RSI主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
WAITING_RSI = 21; //V2N RSI正在等待变道避让施工场景/静止障碍物: driving_action：1 表示正在等待；driving_action:2 表示等待超时请求平行驾驶；
|
||
|
||
AUTO_LANE_CHANGE_LEFT_RSM = 22; //V2N RSM主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
AUTO_LANE_CHANGE_RIGHT_RSM = 23; //V2N RSM主动向右变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
LANE_AVOID_LEFT_RSM = 24; //V2N RSM主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
LANE_AVOID_RIGHT_RSM = 25; //V2N RSM主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
WAITING_RSM = 26; //V2N RSM正在等待变道避让施工场景/静止障碍物: driving_action：1 表示正在等待；driving_action:2 表示等待超时请求平行驾驶；
|
||
|
||
AUTO_LANE_CHANGE_LEFT_RSI_TRIANGLE = 27; //V2N 三角锥主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
AUTO_LANE_CHANGE_RIGHT_RSI_TRIANGLE = 28; //V2N 三角锥主动向右变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
|
||
LANE_AVOID_LEFT_RSI_TRIANGLE = 29; //V2N 三角锥主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
LANE_AVOID_RIGHT_RSI_TRIANGLE = 30; //V2N 三角锥主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
WAITING_RSI_TRIANGLE = 31; //V2N 三角锥正在等待变道避让施工场景/静止障碍物: driving_action：1 表示正在等待；driving_action:2 表示等待超时请求平行驾驶
|
||
|
||
OUT_OF_ODD = 32; //超出设计运行范围（北京牌照考试）: driving_action:1 表示红灯ODD（快速路信号灯）和绕障ODD（静止车占用部分车道，对向车辆借道行驶）
|
||
|
||
YIELD_TO_VEHICLE_COMING_FROM_BEHIND = 33; //正在给后方驶来的机动车让行: driving_action:1 表示触发让行后方机动车
|
||
}
|
||
|
||
enum DrivingAction
|
||
{
|
||
DRIVING_Action_STATE_NONE = 0;
|
||
DRIVING_ACTION_STATE_ONE = 1;
|
||
DRIVING_ACTION_STATE_TWO = 2;
|
||
DRIVING_ACTION_STATE_THREE = 3;
|
||
DRIVING_ACTION_STATE_FOUR = 4;
|
||
DRIVING_ACTION_STATE_FIVE = 5;
|
||
DRIVING_ACTION_STATE_SIX = 6;
|
||
DRIVING_ACTION_STATE_SEVEN = 7;
|
||
DRIVING_ACTION_STATE_EIGHT = 8;
|
||
DRIVING_ACTION_STATE_NINE = 9;
|
||
}
|
||
|
||
message DrivingActionMsg
|
||
{
|
||
DrivingState driving_state = 1;
|
||
DrivingAction driving_action = 2;
|
||
}
|
||
|
||
enum ParkScenarioDrivingState
|
||
{
|
||
PARK_SENARIO_NO_AUTODRIVING = 0; //不在自动驾驶状态
|
||
PARK_SENARIO_LANKE_KEEP = 1; //车道保持状态
|
||
PARK_SENARIO_LANE_AVOID_LEFT = 2; //主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
PARK_SENARIO_LANE_AVOID_RIGHT = 3; //主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
|
||
PARK_SENARIO_START_UP = 4; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步；
|
||
PARK_SENARIO_PULL_OVER = 5; //站点停车状态： driving_action：1 表示正常站点停车；driving_action:2 表示择机站点停车；
|
||
PARK_SENARIO_FORCE_PULL_OVER_ON = 6; //响应触发靠边停车状态： driving_action：1 表示开始靠边停车；driving_action:2 表示靠边停车成功；3：靠边停车失败;
|
||
PARK_SENARIO_FORCE_PULL_OVER_OFF = 7; //不响应触发靠边停车状态： driving_action：1 表示距离前方站点100m；driving_action:2 表示距离路口100m；3： 正在变道 。。。
|
||
}
|
||
|
||
message ParkScenarioDrivingAction
|
||
{
|
||
ParkScenarioDrivingState driving_state = 1; //决策场景
|
||
DrivingAction driving_action = 2; //决策场景状态
|
||
}
|
||
|
||
message ParkScenarioPlanningAction
|
||
{
|
||
ParkScenarioDrivingAction action_msg = 1; //决策场景（包含场景以及响应状态）
|
||
double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值)
|
||
}
|
||
|
||
message PlanningActionMsg
|
||
{
|
||
DrivingActionMsg action_msg = 1;
|
||
double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值)
|
||
|
||
ParkScenarioPlanningAction park_scenario_action = 3;
|
||
}
|
||
|
||
//message definition for MsgTypeSpecialVehicleTaskCmd
|
||
//refer to special_vehicle_task_cmd.proto for details
|
||
|
||
//message definition for MsgTypeSetParamReq
|
||
message SetOneParam
|
||
{
|
||
uint32 type = 1; // 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s),针对低速绕行功能的
|
||
// 3:AEB开关(bool) 0:关闭自动紧急制动功能 1:启用自动紧急制动功能
|
||
// 4:限制绕障开关(bool) 0:正常绕障 1：限制绕障 默认0
|
||
// 5:停车让行线前避让等待开关(bool) 0:停车让行线前无需等待 1:停车让行线前需要等待 默认0
|
||
// 6:地图限速功能开关(bool) 0:不使用地图限速功能 1:使用地图限速功能 默认0
|
||
// 7:环岛模式开关(bool) 0:普通模式 1:环岛模式 默认0
|
||
// 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略 默认1
|
||
// 9:m1拼接视频自车位置参数(string), 格式:x,y,width,height
|
||
// 10:故障减速停车策略开关(bool) 0:关闭故障减速停车策略 1:使用故障减速停车策略 默认1
|
||
// 11: 盲区开关(bool) 0: off 1:on /telematics/sensor/blindarea_flag
|
||
// 12: 融合v2n开关(bool) 0:不发给PnC 1:发给Pnc /telematics/fusion/v2n_flag
|
||
// 13: 融合v2i开关(bool) 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0 /telematics/fusion/v2i_flag
|
||
// 14: 融合模式(int) 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1 /telematics/fusion/fusion_mode
|
||
// 15：座椅状态(int) 0:表示仅主驾位有人,1:表示仅副驾位有人,2:表示主驾和副驾同时有人,3:表示仅后排有人,4:表示主驾有人+后排有人,5:表示副驾有人+后排有人,6:表示主驾和副驾同时有人+后排有人,7: 所有座位都无人, 255:缺省
|
||
// 16: 超车的最大速度阈值(double, m/s) T1/T2: 范围[3, 12.5], 默认值10
|
||
// 17: 故障模拟指令(int) default:0, 1:线控失效
|
||
// 18: 碰撞上报(null) TODO 废弃，使用：message CollisionReport
|
||
// 19: 会车开关(bool) 0: off 1:on 默认0
|
||
// 20: 超车开关(bool) 0: off 1:on 默认0
|
||
string value = 2; // 转成字符串的值
|
||
}
|
||
|
||
message SetParamReq
|
||
{
|
||
repeated SetOneParam reqs = 1;
|
||
}
|
||
|
||
//message definition for MsgTypeTripInfoEvent
|
||
message TripInfoEvent
|
||
{
|
||
uint32 type = 1; //事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
|
||
string lineName = 2; //路线名
|
||
string departureStopName = 3; //出站站点名
|
||
string arrivalStopName = 4; //下一站到达站点名
|
||
bool isLastStop = 5; //下一站到达站是否最终站
|
||
}
|
||
|
||
//message definition for MsgTypeChassisStates
|
||
//refer to chassis_states.proto for details
|
||
|
||
//message definition for MsgTypeFunctionStates
|
||
//refer to function_states.proto for details
|
||
|
||
//message definition for MsgTypeSweeperTaskIndexData
|
||
//refer to robo_sweeper_task_index.proto for details
|
||
|
||
//message definition for MsgTypeObuWarningData
|
||
//refer to obu_warning_event.proto for details
|
||
|
||
//message definition for MsgTypeBagManagerCmd
|
||
//refer to bag_manager.proto for details
|
||
|
||
//message definition for MsgTypePlanningCmd
|
||
message PullOverCmd
|
||
{
|
||
uint32 cmd = 1; //0: default 1: 靠边停车 2:重新起步 3:紧急停车
|
||
}
|
||
|
||
message LaneChangeCmd
|
||
{
|
||
uint32 cmd = 1; //0: default 1: 左变道 2:右变道 3:超车 4:恢复自动决策
|
||
}
|
||
|
||
message PlanningCmd
|
||
{
|
||
PullOverCmd pullOverCmd = 1;
|
||
LaneChangeCmd laneChangeCmd = 2;
|
||
}
|
||
|
||
//message definition for MsgTypeSetParamReqV2
|
||
//refer to param_set_cmd.proto for details
|
||
|
||
//message definition for MsgTypeBackCameraVideo
|
||
//payload:jpeg data
|
||
|
||
//message definition for MsgTypeV2nCongestionEvent
|
||
//refer to RSI_PB in mogo_v2x.proto for details
|
||
|
||
//message definition for MsgTypeV2nGlobalPathEvents
|
||
//refer to road_overview_events.proto for details
|
||
|
||
//message definition for MsgTypeGetParamReq
|
||
//复用 SetParamReq
|
||
|
||
//message definition for MsgTypeGetParamResp
|
||
//复用 SetParamReq
|
||
|
||
//message definition for MsgTypeTaskCmd
|
||
//查看云端和鹰眼的接口
|
||
|
||
//message definition for MsgTypeFSMStatusReasonQueryReq
|
||
//refer to FSMStatusReasonQuery.proto for details
|
||
|
||
//message definition for MsgTypeFSMStatusReasonQueryResp
|
||
//refer to FSMStatusReasonQuery.proto for details
|
||
|
||
//message definition for MsgTypeM1StitchedVideo
|
||
//payload:jpeg data
|
||
|
||
//message definition for MsgTypeGetDebugInfo
|
||
message DebugInfo
|
||
{
|
||
uint32 seq = 1; //seq num
|
||
repeated SessionInfo sessions = 2; //有效session信息
|
||
}
|
||
|
||
message SessionInfo
|
||
{
|
||
uint32 sessionID = 1;
|
||
uint32 role = 2;
|
||
string sn = 3;
|
||
uint64 connectedTimeStamp = 4;
|
||
string version = 5;
|
||
}
|
||
|
||
//message definition for MsgTypeSSMState
|
||
//refer to ssm_info.proto for details
|
||
|
||
//message definition for MsgTypeParallelDrivingCmd
|
||
//查看云端和鹰眼的接口
|
||
|
||
//message definition for MsgTypeFMState
|
||
//refer to fm_info.proto for details
|
||
|
||
//message definition for MsgTypeFSM2024State
|
||
//refer to fsm2024.proto
|
||
|
||
//message definition for MsgTypeLocState
|
||
//refer to loc_state.proto
|
||
|
||
//message definition for MsgTypeCollisionReport
|
||
message CollisionReport
|
||
{
|
||
double longitude = 1;
|
||
double latitude = 2;
|
||
double timestamp = 3;//时间, 单位：秒
|
||
} |