planning.proto

syntax = "proto2";

package apollo.planning;

import "modules/common/proto/header.proto";
import "modules/common/proto/vehicle_signal.proto";
import "modules/common/proto/path_point.proto";
import "modules/canbus/proto/chassis.proto";
import "modules/planning/proto/decision.proto";
import "modules/planning/proto/planning_internal.proto";

message SpeedPoint {
  optional double s = 1;
  optional double t = 2;
  // speed (m/s)
  optional double v = 3;
  // acceleration (m/s^2)
  optional double a = 4;
  // jerk (m/s^3)
  optional double da = 5;
}

// Deprecated: replaced by apollo.common.TrajectoryPoint
message ADCTrajectoryPoint {
  optional double x = 1;  // in meters.
  optional double y = 2;  // in meters.
  optional double z = 3;  // height in meters.

  optional double speed = 6;  // speed, in meters / second
  optional double acceleration_s = 7;  // acceleration in s direction
  optional double curvature = 8;  // curvature (k = 1/r), unit: (1/meters)
  // change of curvature in unit s (dk/ds)
  optional double curvature_change_rate = 9;
  // in seconds (relative_time = time_of_this_state - timestamp_in_header)
  optional double relative_time = 10;
  optional double theta = 11;  // relative to absolute coordinate system
  // calculated from the first point in this trajectory
  optional double accumulated_s = 12;

  // in meters, reference to route SL-coordinate
  optional double s = 4 [deprecated = true];
  // in meters, reference to route SL-coordinate
  optional double l = 5 [deprecated = true];
}

// Deprecated: replaced by apollo.common.PathPoint
message ADCPathPoint {
  optional double x = 1;  // in meters
  optional double y = 2;  // in meters
  optional double z = 3;  // in meters
  optional double curvature = 4;  // curvature (k = 1/r), unit: (1/meters)
  optional double heading = 5;  // relative to absolute coordinate system
}


message ADCSignals {
  enum SignalType {
    LEFT_TURN = 1;
    RIGHT_TURN = 2;
    LOW_BEAM_LIGHT = 3;
    HIGH_BEAM_LIGHT = 4;
    FOG_LIGHT = 5;
    EMERGENCY_LIGHT = 6;
  }
  repeated SignalType signal = 1;
}

message EStop {
  // is_estop == true when emergency stop is required
  optional bool is_estop = 1;
}

message ProcessorStats {
  optional string name = 1;
  optional double time_ms = 2;
}

message LatencyStats {
  optional double total_time_ms = 1;
  repeated ProcessorStats processor_stats = 2;
}

// next id: 16
message ADCTrajectory {
  optional apollo.common.Header header = 1;
  optional double total_path_length = 2; // in meters
  optional double total_path_time = 3; // in seconds
  repeated apollo.common.TrajectoryPoint trajectory_point = 12;
  optional EStop estop = 6;
  repeated apollo.common.PathPoint path_point = 13;
  optional apollo.planning_internal.Debug debug = 8;
  // is_replan == true mean replan triggered
  optional bool is_replan = 9 [default = false];
  // Specify trajectory gear
  optional apollo.canbus.Chassis.GearPosition gear = 10;
  optional apollo.common.VehicleSignal signal = 11;
  optional apollo.planning.DecisionResult decision = 14;
  optional LatencyStats latency_stats = 15;

  // replaced by path_point
  repeated ADCPathPoint adc_path_point = 7 [deprecated=true];
  // replaced by trajectory_point
  repeated ADCTrajectoryPoint adc_trajectory_point = 4 [deprecated=true];
}