519 lines
18 KiB
Protocol Buffer
519 lines
18 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 = 9; //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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MsgTypePlanningDecisionState = 0x00001; //planning决策状态, 透传
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MsgTypeSweeperTaskIndexData = 0x00002; //清扫车指标数据
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MsgTypeObuWarningData = 0x00003; //obu预警事件
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MsgTypeTrajectory = 0x10000; //局部轨迹,车前引导线
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MsgTypeTrackedObjects = 0x10001; //障碍物信息
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MsgTypeGnssInfo = 0x10002; //惯导信息
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MsgTypeVehicleState = 0x10003; //底盘信息, 透传底盘状态，pb参考底盘
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MsgTypeAutopilotState = 0x10004; //自动驾驶状态
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MsgTypeReportMessage = 0x10005; //监控事件报告
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MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
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MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
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MsgTypePointCloud = 0x10008; //点云透传
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MsgTypePlanningObjects = 0x10009; //planning障碍物
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MsgTypeOBU = 0x1000a; //OBU
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MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
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MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
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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
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MsgTypeWarn = 0x1010d; //预警数据
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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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}
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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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}
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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 Trajectory
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{
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repeated TrajectoryPoint points = 1;
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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
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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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//501:RoadWork_occupy_0501, 502:RoadWork_break_0502
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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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}
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message TrackedObjects
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{
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repeated TrackedObject objs = 1;
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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
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double systemTime = 10; //系统时间 单位：秒s
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}
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// message definition for MessageType: MsgTypeVehicleState
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// refer to VehicleState in vehicle_state.proto
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// message definition for MessageType: MsgTypeAutopilotState
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message AutopilotState
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{
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uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中, 7:平行驾驶中
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uint32 camera = 2; //camera节点状态 1:开启，0:关闭
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uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
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uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
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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
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double speed = 6; //惯导车速 m/s
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string reason = 7; //不可用原因(abandoned)
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}
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// message definition for MessageType: MsgTypeReportMessage
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// refer to mogo_report_msg.proto
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// message definition for MessageType: MsgTypePerceptionTrafficLight
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// refer to traffic_light.proto
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// message definition for MessageType: MsgTypePredictionObstacleTrajectory
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// refer to prediction.proto
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// message definition for MessageType: MsgTypePointCloud
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// refer to mogo_point_cloud.proto
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// message definition for MessageType: MsgTypePlanningObjects
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message PlanningObject
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{
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uint32 uuid = 1;
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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
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}
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message PlanningObjects
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{
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repeated PlanningObject objs = 1;
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}
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// message definition for MessageType: MsgTypeOBU
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// refer to obu.proto
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// message definition for MsgTypeTrajectoryDownloadReq
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message Line
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{
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uint64 lineId = 1; //路线id，默认-1
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string trajUrl = 2; //轨迹文件下载的cos url，默认“”
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string trajMd5 = 3; //轨迹文件md5，默认“”
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string stopUrl = 4; //打点文件下载的cos url，默认“”
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string stopMd5 = 5; //轨迹文件md5，默认“”
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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
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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
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string trajUrl_dpqp = 8; //轨迹文件下载的cos url，默认“”
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string trajMd5_dpqp = 9; //轨迹文件md5，默认“”
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string stopUrl_dpqp = 10; //打点文件下载的cos url，默认“”
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string stopMd5_dpqp = 11; //轨迹文件md5，默认“”
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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
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}
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message TrajectoryDownloadReq
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{
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Line line = 1; //路线
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}
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// message definition for MessageType: MsgTypeBasicInfoReq
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message BasicInfoReq
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{
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}
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// message definition for MessageType: MsgTypeBasicInfoRsp
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message BasicInfoResp
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{
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string sn = 1;
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uint32 environment = 2; //1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
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uint32 role = 3; //客户端角色：0: 司机屏，1: 乘客屏，2: 调试屏
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}
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// message definition for MsgTypeSetAutopilotModeReq
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message Location
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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 heading = 4;
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}
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message RouteInfo
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{
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Location startLocation = 1;
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string startName = 2;
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Location endLocation = 3;
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string endName = 4;
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repeated Location wayPoints = 5;
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double speedLimit = 6; //单位: km/h
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uint32 vehicleType = 7;
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bool isSpeakVoice = 8; //abandoned
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uint32 routeID = 9;
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string routeName = 10;
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Line line = 11; //路线信息
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}
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message SetAutopilotModeReq
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{
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uint32 mode = 1; //1: enter autopilot mode, 0: quit autopilot mode
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uint32 source = 2; //命令来源: 0: pad模拟, 1: aicloud业务
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RouteInfo routeInfo = 3; //自动驾驶路径信息
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}
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// message definition for MsgTypeSetDemoModeReq
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message SetDemoModeReq
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{
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uint32 enable = 1; //1: enable, 0: disable
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}
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// message definition for MsgTypeCarConfigReq
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message CarConfigReq
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{
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}
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// message definition for MsgTypeCarConfigResp
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message CarConfigResp
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{
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string dockVersion = 1;
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string plateNumber = 2; //车牌
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string macAddress = 3;
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ProtocolVersion protocolVersion = 4; //通信协议版本
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double speedLimit = 5; //自动驾驶限速, 单位：m/s
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double maxSpeedLimit = 6; //最大自动驾驶限速, 单位：m/s
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double minAcceleration = 7; //最小加速度, 单位：m/s²
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double maxAcceleration = 8; //最大加速度, 单位：m/s²
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}
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// message definition for MsgTypeRecordCause
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message RecordCause
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{
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uint64 key = 1; //bag key 唯一标识
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string filename = 2; //文件路径
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string reason = 3; //接管原因
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string reasonID = 4; //接管原因id
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}
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// message definition for MsgTypeRecordData
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message RecordData
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{
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uint32 id = 1; //采集id
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uint32 duration = 2; //采集时间长
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uint32 type = 3; //采集类型, 1:badcase, 2: map; 3: rests
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bool isRecord = 4; //采集指令, true: 采集, false: 停止采集
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bool sustain = 5; //是否持续采集
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uint32 bduration = 6; //前溯时长
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repeated string topics = 7; //topic列表
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}
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// message definition for MsgTypeRecordResult
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// refer to RecordPanel in record_panel.proto
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// message definition for MsgTypeSetAutopilotSpeedReq
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message SetAutopilotSpeedReq
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{
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double speedLimit = 1; //最大车辆速度, 单位：m/s
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}
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// message definition for MsgTypeGlobalPathReq
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message GlobalPathReq
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{
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}
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// message definition for MsgTypeGlobalPathResp
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message GlobalPathResp
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{
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repeated Location wayPoints = 1;
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}
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// message definition for MsgTypeTrafficLightData
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message TrafficLightStatus
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{
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string phaseNo = 1; //相位编号
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string color = 2; //灯态： 红灯-R，绿灯-G，绿闪-FG，黄-Y，B-黑
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int32 remain = 3; //倒计时-秒
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}
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message TrafficLightDetail
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{
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TrafficLightStatus left = 1; //左灯
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TrafficLightStatus mid = 2; //中间灯
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TrafficLightStatus right = 3; //右灯
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}
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message TrafficLightData
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{
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string crossID = 1; //roadID
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double latitude = 2;
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double longitude = 3;
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string heading = 4; //红绿灯方向
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string direction = 5; //路的航向角
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int32 lightId = 6; //红绿灯ID
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int32 laneNo = 7; //车道号
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int32 arrowNo = 8; //当前车道对应地面要素转向
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int32 flashYellow = 9; //黄灯总时间
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TrafficLightDetail laneDetail = 10; //灯态具体信息
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uint64 timestamp = 11;//当前卫星时间, 单位: ms
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}
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// message definition for MsgTypeWarn
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message Warn
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{
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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
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//20: 保持车距/小心前车, 23:摩托车碰撞
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//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
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string content = 2; //words describe type
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uint32 level = 3; //1:low 2:high
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string value = 4; //reserved
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}
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// message definition for MsgTypeArrivalNotification
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message ArrivalNotification
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{
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uint32 carType = 1; //abandoned
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Location endLocation = 2;
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}
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// message definition for MsgTypeSystemCmdReq
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enum SystemCmdType
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{
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SYSTEMCMD_NONE = 0;
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SYSTEMCMD_REBOOT = 1;
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}
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message SystemCmdReq
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{
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SystemCmdType cmdType = 1; //
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}
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// message definition for MsgTypeStatusQueryReq
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message StatusQueryReq
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{
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}
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// message definition for MsgTypeStatusQueryResp
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// refer to system_status_info.proto
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// message definition for MsgTypeSetRainModeReq
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message SetRainModeReq
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{
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uint32 enable = 1; //1: enable, 0: disable
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}
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// message definition for MsgTypeRecordDataConfigReq
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message RecordDataConfigReq
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{
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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
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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
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repeated string topicsNeedToCache = 3;
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}
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// message definition for MsgTypeRecordDataConfigResp
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message RecordDataType
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{
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uint32 id = 1; //采集类型id
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string desc = 2; //采集类型描述
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repeated string topics = 3; //采集类型必须采集的topic列表
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}
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message RecordDataConfig
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{
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repeated RecordDataType recordTypes = 1;
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repeated string allTopics = 2; //当前所有topic列表
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}
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// message definition for MsgTypeSubscribeDataReq
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message SubscribeDataReq
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{
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uint32 role = 1; //客户端角色：0: 司机屏，1: 乘客屏，2: 调试屏
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uint32 reqType = 2; //1:订阅, 2:取消订阅
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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
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}
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// message definition for MsgTypeOperatorCmdReq
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enum OperatorCmdType
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{
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OPERATOR_CMD_NONE = 0;
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OPERATOR_CMD_CHANGE_LANE = 1;
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OPERATOR_CMD_SET_ACCELERATED_SPEED = 2;
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OPERATOR_CMD_SET_HORN = 3;
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}
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message OperatorCmdReq
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{
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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
|
||
}
|
||
|
||
//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；
|
||
}
|
||
|
||
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;
|
||
}
|
||
|
||
message DrivingActionMsg
|
||
{
|
||
DrivingState driving_state = 1;
|
||
DrivingAction driving_action = 2;
|
||
}
|
||
|
||
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)
|
||
}
|
||
|
||
//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)
|
||
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
|
||
|
||
|