278 lines
8.3 KiB
Protocol Buffer
278 lines
8.3 KiB
Protocol Buffer
syntax = "proto3";
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package mogo.telematics.pad;
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enum ProtocolVersion{
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Defaultver = 0;
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CurrentVersion = 1; //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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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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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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}
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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; //telematics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 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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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
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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, 1:ready, 2:自动驾驶中
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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
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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
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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: 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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}
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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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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;
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uint32 vehicleType = 7;
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bool isSpeakVoice = 8;
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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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}
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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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}
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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;
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Location endLocation = 2;
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}
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