42 lines
2.1 KiB
Protocol Buffer
42 lines
2.1 KiB
Protocol Buffer
syntax = "proto2";
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package chassis;
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import "header.proto";
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import "chassis.proto";
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message VehicleState {
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optional common.Header header = 1;
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optional chassis.PilotMode pilot_mode = 2 [default = MODE_MANUAL];
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optional float steering = 3 [default = 0]; // steering angle in degrees
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optional float speed = 4 [default = 0]; // speed in m/s
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optional float accel = 5 [default = 0]; // target acceleration in m/s^2
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optional float throttle = 6 [default = 0]; // target throttle in percentage [0, 100]
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optional float brake = 7 [default = 0]; // target brake in percentage [0, 100]
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optional chassis.GearPosition gear = 8 [default = GEAR_NONE];
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optional chassis.LightSwitch light = 9 [default = LIGHT_NONE];
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//TODO: move to chassis
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optional bool horn = 10 [default = false]; //鸣笛
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optional bool highbeam = 11 [default = false]; //远光灯
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optional bool lowbeam = 12 [default = false]; //近光灯
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optional bool foglight = 13 [default = false]; //雾灯
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optional bool clearance_lamps = 14 [default = false]; //示廓灯
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optional bool warn_light = 15 [default = false]; //报警灯
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optional bool parking_brake = 16 [default = false];
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optional chassis.LongitudeDrivingMode longitude_driving_mode = 20;
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optional chassis.EPSSteeringMode eps_steering_mode = 21;
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optional uint32 steering_sign = 22;
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optional bool steer_inference = 23 [default = false]; //方向盘干预
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optional bool brake_inference = 24 [default = false]; //制动踏板干预
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optional bool accel_inference = 25 [default = false]; //加速踏板干预
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optional bool gear_switch_inference = 26 [default = false]; //档位切换干预
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optional bool location_missing = 27 [default = false]; //未收到定位
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optional bool trajectory_missing = 28 [default = false]; //未收到轨迹
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optional bool chassis_status_missing = 29 [default = false]; //未收到车辆底盘反馈信息
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optional bool brake_light_status = 30 [default = false]; //自驾模式下制动灯状态
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optional bool pilot_mode_condition_met = 31 [default = false];
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}
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