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提交 3a4512fd 编写于 作者: L Liangliang Zhang 提交者： Jiangtao Hu
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All: fixed proto format.

上级 c5f4c4e2
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Showing with 10215 addition and 12410 deletion
modules/canbus/proto/chassis.proto
浏览文件 @ 3a4512fd
......@@ -101,7 +101,7 @@ message Chassis {
optional Surround surround = 31;
// Vehicle registration information
optional License license = 32;
optional License license = 32;
}
message ChassisGPS {
......@@ -137,12 +137,12 @@ enum GpsQuality {
}
message WheelSpeed {
enum WheelSpeedType {
FORWARD = 0;
BACKWARD = 1;
STANDSTILL = 2;
INVALID = 3;
}
enum WheelSpeedType {
FORWARD = 0;
BACKWARD = 1;
STANDSTILL = 2;
INVALID = 3;
}
optional bool is_wheel_spd_rr_valid = 1 [default = false];
optional WheelSpeedType wheel_direction_rr = 2 [default = INVALID];
optional double wheel_spd_rr = 3 [default = 0.0];
......@@ -158,7 +158,7 @@ enum WheelSpeedType {
}
message Sonar {
optional double range = 1; // Meter
optional double range = 1; // Meter
optional apollo.common.Point3D translation = 2; // Meter
optional apollo.common.Quaternion rotation = 3;
}
......
modules/canbus/proto/chassis_detail.proto
浏览文件 @ 3a4512fd
......@@ -24,8 +24,8 @@ message ChassisDetail {
optional Light light = 13; // Light
optional Battery battery = 14; // Battery info
optional CheckResponseSignal check_response = 15;
optional License license = 16; // License info
optional Surround surround = 17; // Surround information
optional License license = 16; // License info
optional Surround surround = 17; // Surround information
optional Gem gem = 18;
}
......@@ -498,7 +498,7 @@ message BasicInfo {
// TODO(QiL) : Re-factor needed here
message Global_rpt_6a {
// Report Message
// Report Message
enum Pacmod_statusType {
PACMOD_STATUS_CONTROL_DISABLED = 0;
PACMOD_STATUS_CONTROL_ENABLED = 1;
......@@ -528,13 +528,13 @@ message Global_rpt_6a {
}
message Brake_cmd_6b {
// Report Message
// Report Message
// [%] [0|1]
optional double brake_cmd = 1;
}
message Brake_rpt_6c {
// Report Message
// Report Message
enum Brake_on_offType {
BRAKE_ON_OFF_OFF = 0;
BRAKE_ON_OFF_ON = 1;
......@@ -550,7 +550,7 @@ message Brake_rpt_6c {
}
message Steering_cmd_6d {
// Report Message
// Report Message
// [radians] [-2147483.648|2147483.647]
optional double position_value = 1;
// [rad/s] [0|65.535]
......@@ -558,7 +558,7 @@ message Steering_cmd_6d {
}
message Steering_rpt_1_6e {
// Report Message
// Report Message
// [rad/s] [-32.768|32.767]
optional double manual_input = 1;
// [rad/s] [-32.768|32.767]
......@@ -568,7 +568,7 @@ message Steering_rpt_1_6e {
}
message Wheel_speed_rpt_7a {
// Report Message
// Report Message
// [rad/s] [-32768|32767]
optional int32 wheel_spd_rear_right = 1;
// [rad/s] [-32768|32767]
......@@ -580,7 +580,7 @@ message Wheel_speed_rpt_7a {
}
message Date_time_rpt_83 {
// Report Message
// Report Message
// [sec] [0|60]
optional int32 time_second = 1;
// [min] [0|60]
......@@ -596,7 +596,7 @@ message Date_time_rpt_83 {
}
message Brake_motor_rpt_1_70 {
// Report Message
// Report Message
// [amps] [0|4294967.295]
optional double motor_current = 1;
// [radians] [-2147483.648|2147483.647]
......@@ -604,7 +604,7 @@ message Brake_motor_rpt_1_70 {
}
message Headlight_rpt_77 {
// Report Message
// Report Message
enum Output_valueType {
OUTPUT_VALUE_HEADLIGHTS_OFF = 0;
OUTPUT_VALUE_LOW_BEAMS = 1;
......@@ -629,7 +629,7 @@ message Headlight_rpt_77 {
}
message Accel_rpt_68 {
// Report Message
// Report Message
// [%] [0|1]
optional double manual_input = 1;
// [%] [0|1]
......@@ -639,7 +639,7 @@ message Accel_rpt_68 {
}
message Steering_motor_rpt_3_75 {
// Report Message
// Report Message
// [N-m] [-2147483.648|2147483.647]
optional double torque_output = 1;
// [N-m] [-2147483.648|2147483.647]
......@@ -647,7 +647,7 @@ message Steering_motor_rpt_3_75 {
}
message Turn_cmd_63 {
// Report Message
// Report Message
enum Turn_signal_cmdType {
TURN_SIGNAL_CMD_RIGHT = 0;
TURN_SIGNAL_CMD_NONE = 1;
......@@ -659,7 +659,7 @@ message Turn_cmd_63 {
}
message Turn_rpt_64 {
// Report Message
// Report Message
enum Manual_inputType {
MANUAL_INPUT_RIGHT = 0;
MANUAL_INPUT_NONE = 1;
......@@ -687,7 +687,7 @@ message Turn_rpt_64 {
}
message Shift_cmd_65 {
// Report Message
// Report Message
enum Shift_cmdType {
SHIFT_CMD_PARK = 0;
SHIFT_CMD_REVERSE = 1;
......@@ -695,12 +695,13 @@ message Shift_cmd_65 {
SHIFT_CMD_FORWARD = 3;
SHIFT_CMD_LOW = 4;
}
// FORWARD_is_also_LOW_on_vehicles_with_LOW/HIGH,_PARK_and_HIGH_only_available_on_certain_Vehicles [] [0|4]
// FORWARD_is_also_LOW_on_vehicles_with_LOW/HIGH,_PARK_and_HIGH_only_available_on_certain_Vehicles
// [] [0|4]
optional Shift_cmdType shift_cmd = 1;
}
message Shift_rpt_66 {
// Report Message
// Report Message
enum Manual_inputType {
MANUAL_INPUT_PARK = 0;
MANUAL_INPUT_REVERSE = 1;
......@@ -731,13 +732,13 @@ message Shift_rpt_66 {
}
message Accel_cmd_67 {
// Report Message
// Report Message
// [%] [0|1]
optional double accel_cmd = 1;
}
message Lat_lon_heading_rpt_82 {
// Report Message
// Report Message
// [deg] [-327.68|327.67]
optional double heading = 1;
// [sec] [-128|127]
......@@ -755,7 +756,7 @@ message Lat_lon_heading_rpt_82 {
}
message Global_cmd_69 {
// Report Message
// Report Message
enum Pacmod_enableType {
PACMOD_ENABLE_CONTROL_DISABLED = 0;
PACMOD_ENABLE_CONTROL_ENABLED = 1;
......@@ -777,7 +778,7 @@ message Global_cmd_69 {
}
message Parking_brake_status_rpt_80 {
// Report Message
// Report Message
enum Parking_brake_enabledType {
PARKING_BRAKE_ENABLED_OFF = 0;
PARKING_BRAKE_ENABLED_ON = 1;
......@@ -787,13 +788,13 @@ message Parking_brake_status_rpt_80 {
}
message Yaw_rate_rpt_81 {
// Report Message
// Report Message
// [rad/s] [-327.68|327.67]
optional double yaw_rate = 1;
}
message Horn_rpt_79 {
// Report Message
// Report Message
enum Output_valueType {
OUTPUT_VALUE_OFF = 0;
OUTPUT_VALUE_ON = 1;
......@@ -815,7 +816,7 @@ message Horn_rpt_79 {
}
message Horn_cmd_78 {
// Report Message
// Report Message
enum Horn_cmdType {
HORN_CMD_OFF = 0;
HORN_CMD_ON = 1;
......@@ -825,7 +826,7 @@ message Horn_cmd_78 {
}
message Wiper_rpt_91 {
// Report Message
// Report Message
enum Output_valueType {
OUTPUT_VALUE_WIPERS_OFF = 0;
OUTPUT_VALUE_INTERMITTENT_1 = 1;
......@@ -865,7 +866,7 @@ message Wiper_rpt_91 {
}
message Vehicle_speed_rpt_6f {
// Report Message
// Report Message
enum Vehicle_speed_validType {
VEHICLE_SPEED_VALID_INVALID = 0;
VEHICLE_SPEED_VALID_VALID = 1;
......@@ -877,7 +878,7 @@ message Vehicle_speed_rpt_6f {
}
message Headlight_cmd_76 {
// Report Message
// Report Message
enum Headlight_cmdType {
HEADLIGHT_CMD_HEADLIGHTS_OFF = 0;
HEADLIGHT_CMD_LOW_BEAMS = 1;
......@@ -888,7 +889,7 @@ message Headlight_cmd_76 {
}
message Steering_motor_rpt_2_74 {
// Report Message
// Report Message
// [deg C] [-32808|32727]
optional int32 encoder_temperature = 1;
// [deg C] [-32808|32727]
......@@ -898,7 +899,7 @@ message Steering_motor_rpt_2_74 {
}
message Brake_motor_rpt_2_71 {
// Report Message
// Report Message
// [deg C] [-32808|32727]
optional int32 encoder_temperature = 1;
// [deg C] [-32808|32727]
......@@ -908,7 +909,7 @@ message Brake_motor_rpt_2_71 {
}
message Steering_motor_rpt_1_73 {
// Report Message
// Report Message
// [amps] [0|4294967.295]
optional double motor_current = 1;
// [amps] [-2147483.648|2147483.647]
......@@ -916,7 +917,7 @@ message Steering_motor_rpt_1_73 {
}
message Wiper_cmd_90 {
// Report Message
// Report Message
enum Wiper_cmdType {
WIPER_CMD_WIPERS_OFF = 0;
WIPER_CMD_INTERMITTENT_1 = 1;
......@@ -932,7 +933,7 @@ message Wiper_cmd_90 {
}
message Brake_motor_rpt_3_72 {
// Report Message
// Report Message
// [N-m] [-2147483.648|2147483.647]
optional double torque_output = 1;
// [N-m] [-2147483.648|2147483.647]
......@@ -940,34 +941,39 @@ message Brake_motor_rpt_3_72 {
}
message Gem {
optional Global_rpt_6a global_rpt_6a = 1; // report message
optional Brake_cmd_6b brake_cmd_6b = 2; // report message
optional Brake_rpt_6c brake_rpt_6c = 3; // report message
optional Steering_cmd_6d steering_cmd_6d = 4; // report message
optional Steering_rpt_1_6e steering_rpt_1_6e = 5; // report message
optional Wheel_speed_rpt_7a wheel_speed_rpt_7a = 6; // report message
optional Date_time_rpt_83 date_time_rpt_83 = 7; // report message
optional Brake_motor_rpt_1_70 brake_motor_rpt_1_70 = 8; // report message
optional Headlight_rpt_77 headlight_rpt_77 = 9; // report message
optional Accel_rpt_68 accel_rpt_68 = 10; // report message
optional Steering_motor_rpt_3_75 steering_motor_rpt_3_75 = 11; // report message
optional Turn_cmd_63 turn_cmd_63 = 12; // report message
optional Turn_rpt_64 turn_rpt_64 = 13; // report message
optional Shift_cmd_65 shift_cmd_65 = 14; // report message
optional Shift_rpt_66 shift_rpt_66 = 15; // report message
optional Accel_cmd_67 accel_cmd_67 = 16; // report message
optional Lat_lon_heading_rpt_82 lat_lon_heading_rpt_82 = 17; // report message
optional Global_cmd_69 global_cmd_69 = 18; // report message
optional Parking_brake_status_rpt_80 parking_brake_status_rpt_80 = 19; // report message
optional Yaw_rate_rpt_81 yaw_rate_rpt_81 = 20; // report message
optional Horn_rpt_79 horn_rpt_79 = 21; // report message
optional Horn_cmd_78 horn_cmd_78 = 22; // report message
optional Wiper_rpt_91 wiper_rpt_91 = 23; // report message
optional Vehicle_speed_rpt_6f vehicle_speed_rpt_6f = 24; // report message
optional Headlight_cmd_76 headlight_cmd_76 = 25; // report message
optional Steering_motor_rpt_2_74 steering_motor_rpt_2_74 = 26; // report message
optional Brake_motor_rpt_2_71 brake_motor_rpt_2_71 = 27; // report message
optional Steering_motor_rpt_1_73 steering_motor_rpt_1_73 = 28; // report message
optional Wiper_cmd_90 wiper_cmd_90 = 29; // report message
optional Brake_motor_rpt_3_72 brake_motor_rpt_3_72 = 30; // report message
optional Global_rpt_6a global_rpt_6a = 1; // report message
optional Brake_cmd_6b brake_cmd_6b = 2; // report message
optional Brake_rpt_6c brake_rpt_6c = 3; // report message
optional Steering_cmd_6d steering_cmd_6d = 4; // report message
optional Steering_rpt_1_6e steering_rpt_1_6e = 5; // report message
optional Wheel_speed_rpt_7a wheel_speed_rpt_7a = 6; // report message
optional Date_time_rpt_83 date_time_rpt_83 = 7; // report message
optional Brake_motor_rpt_1_70 brake_motor_rpt_1_70 = 8; // report message
optional Headlight_rpt_77 headlight_rpt_77 = 9; // report message
optional Accel_rpt_68 accel_rpt_68 = 10; // report message
optional Steering_motor_rpt_3_75 steering_motor_rpt_3_75 =
11; // report message
optional Turn_cmd_63 turn_cmd_63 = 12; // report message
optional Turn_rpt_64 turn_rpt_64 = 13; // report message
optional Shift_cmd_65 shift_cmd_65 = 14; // report message
optional Shift_rpt_66 shift_rpt_66 = 15; // report message
optional Accel_cmd_67 accel_cmd_67 = 16; // report message
optional Lat_lon_heading_rpt_82 lat_lon_heading_rpt_82 =
17; // report message
optional Global_cmd_69 global_cmd_69 = 18; // report message
optional Parking_brake_status_rpt_80 parking_brake_status_rpt_80 =
19; // report message
optional Yaw_rate_rpt_81 yaw_rate_rpt_81 = 20; // report message
optional Horn_rpt_79 horn_rpt_79 = 21; // report message
optional Horn_cmd_78 horn_cmd_78 = 22; // report message
optional Wiper_rpt_91 wiper_rpt_91 = 23; // report message
optional Vehicle_speed_rpt_6f vehicle_speed_rpt_6f = 24; // report message
optional Headlight_cmd_76 headlight_cmd_76 = 25; // report message
optional Steering_motor_rpt_2_74 steering_motor_rpt_2_74 =
26; // report message
optional Brake_motor_rpt_2_71 brake_motor_rpt_2_71 = 27; // report message
optional Steering_motor_rpt_1_73 steering_motor_rpt_1_73 =
28; // report message
optional Wiper_cmd_90 wiper_cmd_90 = 29; // report message
optional Brake_motor_rpt_3_72 brake_motor_rpt_3_72 = 30; // report message
}
modules/common/adapters/proto/adapter_config.proto
浏览文件 @ 3a4512fd
......@@ -95,7 +95,7 @@ message AdapterConfig {
// The max number of received messages to keep in the adapter, this field
// is not useful for PUBLISH_ONLY mode messages.
optional int32 message_history_limit = 3 [default = 10];
optional bool latch = 4 [default=false];
optional bool latch = 4 [default = false];
optional string topic = 5;
}
......
modules/common/configs/proto/vehicle_config.proto
浏览文件 @ 3a4512fd
......@@ -25,10 +25,10 @@ message Extrinsics {
// By default, all are measured with the SI units (meters, meters per second,
// etc.).
message VehicleParam {
enum VehicleBrand {
LINCOLN_MKZ = 0;
GEM = 1;
}
enum VehicleBrand {
LINCOLN_MKZ = 0;
GEM = 1;
}
optional VehicleBrand brand = 1;
// Car center point is car reference point, i.e., center of rear axle.
......@@ -45,7 +45,8 @@ enum VehicleBrand {
optional double max_acceleration = 10;
optional double max_deceleration = 11;
// The following items are used to compute trajectory constraints in planning/control/canbus,
// The following items are used to compute trajectory constraints in
// planning/control/canbus,
// vehicle max steer angle
optional double max_steer_angle = 12;
// vehicle max steer rate; how fast can the steering wheel turn.
......
modules/common/monitor_log/proto/monitor_log.proto
浏览文件 @ 3a4512fd
......@@ -18,22 +18,22 @@ message MonitorMessageItem {
ROUTING = 10;
MONITOR = 11;
HMI = 12;
RELATIVE_MAP=13;
RELATIVE_MAP = 13;
GNSS = 14;
CONTI_RADAR = 15;
}
optional MessageSource source = 1 [ default = UNKNOWN ];
optional MessageSource source = 1 [default = UNKNOWN];
optional string msg = 2;
enum LogLevel {
INFO = 0;
WARN = 1;
ERROR = 2;
FATAL = 3;
INFO = 0;
WARN = 1;
ERROR = 2;
FATAL = 3;
}
optional LogLevel log_level = 3 [ default = INFO ];
optional LogLevel log_level = 3 [default = INFO];
}
message MonitorMessage {
......
modules/common/proto/drive_state.proto
浏览文件 @ 3a4512fd
......@@ -2,17 +2,16 @@ syntax = "proto2";
package apollo.common;
// This is the engage advice that published by critical runtime modules.
message EngageAdvice {
enum Advice {
UNKNOWN = 0;
DISALLOW_ENGAGE = 1;
READY_TO_ENGAGE = 2;
KEEP_ENGAGED = 3;
PREPARE_DISENGAGE = 4;
}
enum Advice {
UNKNOWN = 0;
DISALLOW_ENGAGE = 1;
READY_TO_ENGAGE = 2;
KEEP_ENGAGED = 3;
PREPARE_DISENGAGE = 4;
}
optional Advice advice = 1 [default = DISALLOW_ENGAGE];
optional string reason = 2;
optional Advice advice = 1 [default = DISALLOW_ENGAGE];
optional string reason = 2;
}
modules/common/proto/error_code.proto
浏览文件 @ 3a4512fd
......@@ -56,15 +56,15 @@ enum ErrorCode {
HTTP_RUNTIME_ERROR = 10001;
// Relative Map error codes.
RELATIVE_MAP_ERROR = 11000; // general relative map error code
RELATIVE_MAP_ERROR = 11000; // general relative map error code
RELATIVE_MAP_NOT_READY = 11001;
// Driver error codes.
DRIVER_ERROR_GNSS = 12000;
DRIVER_ERROR_VELODYNE = 13000;
DRIVER_ERROR_VELODYNE = 13000;
}
message StatusPb {
optional ErrorCode error_code = 1 [default = OK];
optional string msg = 2;
optional ErrorCode error_code = 1 [default = OK];
optional string msg = 2;
}
modules/common/proto/pnc_point.proto
浏览文件 @ 3a4512fd
syntax = "proto2";
// Defined Point types that are commonly used in PnC (Planning and Control) modules.
// Defined Point types that are commonly used in PnC (Planning and Control)
// modules.
package apollo.common;
message SLPoint {
optional double s = 1;
optional double l = 2;
optional double s = 1;
optional double l = 2;
}
message FrenetFramePoint {
optional double s = 1;
optional double l = 2;
optional double dl = 3;
optional double ddl = 4;
optional double s = 1;
optional double l = 2;
optional double dl = 3;
optional double ddl = 4;
}
message SpeedPoint {
......
modules/common/util/testdata/simple.proto
浏览文件 @ 3a4512fd
......@@ -11,5 +11,5 @@ message SimpleMessage {
}
message SimpleRepeatedMessage {
repeated SimpleMessage message = 1;
repeated SimpleMessage message = 1;
}
modules/common/vehicle_state/proto/vehicle_state.proto
浏览文件 @ 3a4512fd
......@@ -6,18 +6,18 @@ import "modules/canbus/proto/chassis.proto";
import "modules/localization/proto/pose.proto";
message VehicleState {
optional double x = 1 [default =0.0];
optional double y = 2 [default =0.0];
optional double z = 3 [default =0.0];
optional double timestamp = 4 [default =0.0];
optional double roll = 5 [default =0.0];
optional double pitch = 6 [default =0.0];
optional double yaw = 7 [default =0.0];
optional double heading = 8 [default =0.0];
optional double kappa = 9 [default =0.0];
optional double linear_velocity = 10 [default =0.0];
optional double angular_velocity = 11 [default =0.0];
optional double linear_acceleration = 12 [default =0.0];
optional double x = 1 [default = 0.0];
optional double y = 2 [default = 0.0];
optional double z = 3 [default = 0.0];
optional double timestamp = 4 [default = 0.0];
optional double roll = 5 [default = 0.0];
optional double pitch = 6 [default = 0.0];
optional double yaw = 7 [default = 0.0];
optional double heading = 8 [default = 0.0];
optional double kappa = 9 [default = 0.0];
optional double linear_velocity = 10 [default = 0.0];
optional double angular_velocity = 11 [default = 0.0];
optional double linear_acceleration = 12 [default = 0.0];
optional apollo.canbus.Chassis.GearPosition gear = 13;
optional apollo.canbus.Chassis.DrivingMode driving_mode = 14;
optional apollo.localization.Pose pose = 15;
......
modules/control/proto/control_cmd.proto
浏览文件 @ 3a4512fd
......@@ -28,7 +28,8 @@ message ControlCommand {
// target brake in percentage [0, 100]
optional double brake = 4;
// target non-directional steering rate, in percentage of full scale per second [0, 100]
// target non-directional steering rate, in percentage of full scale per
// second [0, 100]
optional double steering_rate = 6;
// target steering angle, in percentage of full scale [-100, 100]
......@@ -49,7 +50,8 @@ message ControlCommand {
optional bool engine_on_off = 17;
// completion percentage of trajectory planned in last cycle
optional double trajectory_fraction = 18;
optional apollo.canbus.Chassis.DrivingMode driving_mode = 19 [deprecated = true];
optional apollo.canbus.Chassis.DrivingMode driving_mode = 19
[deprecated = true];
optional apollo.canbus.Chassis.GearPosition gear_location = 20;
optional Debug debug = 22;
......@@ -143,15 +145,15 @@ message SimpleMPCDebug {
optional double acceleration_lookup = 28;
optional double speed_lookup = 29;
optional double calibration_value = 30;
repeated double matrix_q_updated = 31; // matrix_q_updated_ size = 6
repeated double matrix_r_updated = 32; // matrix_r_updated_ size = 2
repeated double matrix_q_updated = 31; // matrix_q_updated_ size = 6
repeated double matrix_r_updated = 32; // matrix_r_updated_ size = 2
}
message InputDebug {
optional apollo.common.Header localization_header = 1;
optional apollo.common.Header canbus_header = 2;
optional apollo.common.Header trajectory_header = 3;
}
}
message Debug {
optional SimpleLongitudinalDebug simple_lon_debug = 1;
......
modules/control/proto/control_conf.proto
浏览文件 @ 3a4512fd
......@@ -40,7 +40,6 @@ message ControlConf {
optional bool enable_navigation_mode_position_update = 22 [default = true];
optional bool enable_persistent_estop = 23 [default = true];
// original config
optional double control_period = 24;
optional double max_planning_interval_sec = 25;
......
modules/control/proto/gain_scheduler_conf.proto
浏览文件 @ 3a4512fd
......@@ -7,6 +7,6 @@ message GainScheduler {
}
message GainSchedulerInfo {
optional double speed = 1; // m/s
optional double speed = 1; // m/s
optional double ratio = 2;
}
modules/control/proto/lat_controller_conf.proto
浏览文件 @ 3a4512fd
......@@ -6,18 +6,18 @@ import "modules/control/proto/gain_scheduler_conf.proto";
// simple optimal steer control param
message LatControllerConf {
optional double ts = 1; // sample time (dt) 0.01 now, configurable
optional double ts = 1; // sample time (dt) 0.01 now, configurable
// preview window n, preview time = preview window * ts
optional int32 preview_window = 2;
optional double cf = 3;
optional double cr = 4; // N/rad
optional double cr = 4; // N/rad
optional int32 mass_fl = 5;
optional int32 mass_fr = 6;
optional int32 mass_rl = 7;
optional int32 mass_rr = 8;
optional double eps = 9; // converge threshold for lqr solver
repeated double matrix_q = 10; // matrix_q size = 4 + preview_window
optional int32 cutoff_freq = 11; // cutoff frequency
repeated double matrix_q = 10; // matrix_q size = 4 + preview_window
optional int32 cutoff_freq = 11; // cutoff frequency
optional int32 mean_filter_window_size = 12; // window size of mean filter
// for a normal car, it should be in range[16, 18]
optional int32 max_iteration = 13; // maximum iteration for lqr solve
......
modules/control/proto/lon_controller_conf.proto
浏览文件 @ 3a4512fd
......@@ -12,7 +12,7 @@ message FilterConf {
// controller param
message LonControllerConf {
optional double ts = 1; // longitudinal controller sampling time
optional double ts = 1; // longitudinal controller sampling time
optional double brake_deadzone = 2;
optional double throttle_deadzone = 3;
......@@ -24,7 +24,7 @@ message LonControllerConf {
optional PidConf station_pid_conf = 8;
optional PidConf low_speed_pid_conf = 9;
optional PidConf high_speed_pid_conf = 10;
optional double switch_speed = 11; // low/high speed controller switch speed
optional double switch_speed = 11; // low/high speed controller switch speed
optional FilterConf pitch_angle_filter_conf = 12;
......
modules/control/proto/mpc_controller_conf.proto
浏览文件 @ 3a4512fd
......@@ -8,17 +8,17 @@ import "modules/control/proto/gain_scheduler_conf.proto";
// simple optimal steer control param
message MPCControllerConf {
optional double ts = 1; // sample time (dt) 0.01 now, configurable
optional double ts = 1; // sample time (dt) 0.01 now, configurable
optional double cf = 2;
optional double cr = 3; // N/rad
optional double cr = 3; // N/rad
optional int32 mass_fl = 4;
optional int32 mass_fr = 5;
optional int32 mass_rl = 6;
optional int32 mass_rr = 7;
optional double eps = 8; // converge threshold
repeated double matrix_q = 9; // matrix_q size = 6
repeated double matrix_r = 10; // matrix_r size = 2
optional int32 cutoff_freq = 11; // cutoff frequency
optional double eps = 8; // converge threshold
repeated double matrix_q = 9; // matrix_q size = 6
repeated double matrix_r = 10; // matrix_r size = 2
optional int32 cutoff_freq = 11; // cutoff frequency
optional int32 mean_filter_window_size = 12; // window size of mean filter
// for a normal car, it should be in range[16, 18]
optional int32 max_iteration = 13; // maximum iteration for lqr solve
......
modules/data/proto/static_info.proto
浏览文件 @ 3a4512fd
......@@ -10,9 +10,7 @@ import "modules/routing/proto/routing.proto";
message VehicleInfo {
optional string name = 1;
enum Brand {
LINCOLN = 1;
}
enum Brand { LINCOLN = 1; }
optional Brand brand = 2;
enum Model {
// Lincoln model
......
modules/data/proto/task.proto
浏览文件 @ 3a4512fd
......@@ -4,7 +4,6 @@ package apollo.data;
import "modules/data/proto/static_info.proto";
message MapPoint {
optional double latitude = 1;
optional double longitude = 2;
......
modules/data/proto/warehouse_query.proto
浏览文件 @ 3a4512fd
......@@ -4,7 +4,6 @@ package apollo.data;
import "modules/data/proto/task.proto";
message SearchRequest {
// Search criteria.
optional string vehicle_name = 1;
......
modules/dreamview/proto/simulation_world.proto
浏览文件 @ 3a4512fd
......@@ -24,13 +24,13 @@ message Prediction {
// Next-id: 13
message Decision {
enum Type {
IGNORE = 0; // Ignore the object
STOP = 1; // Stop at a distance from the object
NUDGE = 2; // Go around the object
YIELD = 3; // Go after the object
OVERTAKE = 4; // Go before the object
FOLLOW = 5; // Follow the object in the same lane
SIDEPASS = 6; // Pass the object in neighboring lane
IGNORE = 0; // Ignore the object
STOP = 1; // Stop at a distance from the object
NUDGE = 2; // Go around the object
YIELD = 3; // Go after the object
OVERTAKE = 4; // Go before the object
FOLLOW = 5; // Follow the object in the same lane
SIDEPASS = 6; // Pass the object in neighboring lane
}
optional Type type = 1 [default = IGNORE];
......@@ -87,8 +87,8 @@ message Object {
// Motion Info
// For objects with motion info such as ADC.
optional double speed = 11; // in m/s
optional double speed_acceleration = 12; // in m/s^2
optional double speed = 11; // in m/s
optional double speed_acceleration = 12; // in m/s^2
optional double speed_jerk = 13;
optional double spin = 14;
optional double spin_acceleration = 15;
......@@ -133,10 +133,10 @@ message Object {
UNKNOWN_MOVABLE = 1;
UNKNOWN_UNMOVABLE = 2;
PEDESTRIAN = 3; // pedestrian, usually determined by moving behavior.
BICYCLE = 4; // bike, motor bike.
VEHICLE = 5; // passenger car or truck.
VIRTUAL = 6; // virtual object created by decision module.
CIPV = 7; // closest in-path vehicle determined by perception module.
BICYCLE = 4; // bike, motor bike.
VEHICLE = 5; // passenger car or truck.
VIRTUAL = 6; // virtual object created by decision module.
CIPV = 7; // closest in-path vehicle determined by perception module.
};
optional Type type = 29; // obstacle type
......@@ -151,7 +151,7 @@ message DelaysInMs {
optional double localization = 3;
optional double perception_obstacle = 4;
optional double planning = 5;
optional double prediction= 7;
optional double prediction = 7;
optional double traffic_light = 8;
optional double control = 9;
}
......@@ -215,7 +215,7 @@ message SimulationWorld {
repeated Object planning_trajectory = 8;
// Main decision
optional Object main_stop = 9 [deprecated=true];
optional Object main_stop = 9 [deprecated = true];
optional Object main_decision = 10;
// Speed limit
......@@ -225,7 +225,8 @@ message SimulationWorld {
optional DelaysInMs delay = 12;
// Notification
optional apollo.common.monitor.MonitorMessage monitor = 13 [deprecated=true];
optional apollo.common.monitor.MonitorMessage monitor = 13
[deprecated = true];
repeated Notification notification = 14;
// Engage advice from planning
......
modules/drivers/camera/proto/camera_conf.proto
浏览文件 @ 3a4512fd
......@@ -6,33 +6,32 @@ message CameraConf {
required uint32 index = 1 [default = 0];
optional string position = 2 [default = "centre"];
// packet params
optional string topic_name = 3 [ default="" ];
optional string video_device = 4 [ default="/dev/video0"];
optional string camera_name = 5 [ default="head_camera" ];
optional string camera_info_url = 6 [ default="" ];
optional string camera_frame_id = 7 [ default="" ];
optional uint32 camera_timeout = 8 [ default=1000 ];
optional double spin_interval = 9 [ default=0.005 ];
optional string topic_name = 3 [default = ""];
optional string video_device = 4 [default = "/dev/video0"];
optional string camera_name = 5 [default = "head_camera"];
optional string camera_info_url = 6 [default = ""];
optional string camera_frame_id = 7 [default = ""];
optional uint32 camera_timeout = 8 [default = 1000];
optional double spin_interval = 9 [default = 0.005];
// possible values: mmap, read, userptr
optional string io_method = 10 [ default="mmap" ];
optional string io_method = 10 [default = "mmap"];
// possible values: yuyv, uyvy, mjpeg, yuvmono10, rgb24
optional string pixel_format = 11 [ default="mjpeg" ];
optional uint32 image_width = 12 [ default=640 ];
optional uint32 image_height = 13 [ default=480 ];
optional uint64 frame_rate = 14 [ default=30 ];
optional int32 brightness = 15 [ default=-1 ]; // 0-255, -1 "leave alone"
optional int32 contrast = 16 [ default=-1 ]; // 0-255, -1 "leave alone"
optional int32 saturation = 17 [ default=-1 ]; // 0-255, -1 "leave alone"
optional int32 sharpness = 18 [ default=-1 ]; // 0-255, -1 "leave alone"
optional int32 gain = 19 [ default=-1 ]; // 0-255, -1 "leave alone"
optional bool autoexposure = 20 [ default=true ];
optional uint32 exposure = 21 [ default=100 ];
optional bool autofocus = 22 [ default=false ];
optional int32 focus = 23 [ default=-1 ]; // 0-255, -1 "leave alone"
optional bool auto_white_balance = 24 [ default=true ];
optional int32 white_balance = 25 [ default=4000 ];
optional uint32 trigger_internal = 26 [ default=0 ];
optional uint32 trigger_fps = 27 [ default=30 ];
optional uint32 error_code = 28 [ default=0 ];
optional string pixel_format = 11 [default = "mjpeg"];
optional uint32 image_width = 12 [default = 640];
optional uint32 image_height = 13 [default = 480];
optional uint64 frame_rate = 14 [default = 30];
optional int32 brightness = 15 [default = -1]; // 0-255, -1 "leave alone"
optional int32 contrast = 16 [default = -1]; // 0-255, -1 "leave alone"
optional int32 saturation = 17 [default = -1]; // 0-255, -1 "leave alone"
optional int32 sharpness = 18 [default = -1]; // 0-255, -1 "leave alone"
optional int32 gain = 19 [default = -1]; // 0-255, -1 "leave alone"
optional bool autoexposure = 20 [default = true];
optional uint32 exposure = 21 [default = 100];
optional bool autofocus = 22 [default = false];
optional int32 focus = 23 [default = -1]; // 0-255, -1 "leave alone"
optional bool auto_white_balance = 24 [default = true];
optional int32 white_balance = 25 [default = 4000];
optional uint32 trigger_internal = 26 [default = 0];
optional uint32 trigger_fps = 27 [default = 30];
optional uint32 error_code = 28 [default = 0];
}
modules/drivers/gnss/proto/config.proto
浏览文件 @ 3a4512fd
......@@ -61,20 +61,19 @@ message NovatelConfig {
message UbloxConfig {
}
enum ImuType {
// We currently use the following IMUs. We'll extend this list when a new IMU
// is introduced.
IMAR_FSAS = 13; // iMAR iIMU-FSAS
ISA100C = 26; // Northrop Grumman Litef ISA-100C
ADIS16488 = 31; // Analog Devices ADIS16488
STIM300 = 32; // Sensonor STIM300
ISA100 = 34; // Northrop Grumman Litef ISA-100
ISA100_400HZ = 38; // Northrop Grumman Litef ISA-100
ISA100C_400HZ = 39; // Northrop Grumman Litef ISA-100
G320N = 40; // EPSON G320N
CPT_XW5651 = 41; // IMU@SPAN-CPT, and XingWangYuda 5651
UM442 = 42; // UM442
IMAR_FSAS = 13; // iMAR iIMU-FSAS
ISA100C = 26; // Northrop Grumman Litef ISA-100C
ADIS16488 = 31; // Analog Devices ADIS16488
STIM300 = 32; // Sensonor STIM300
ISA100 = 34; // Northrop Grumman Litef ISA-100
ISA100_400HZ = 38; // Northrop Grumman Litef ISA-100
ISA100C_400HZ = 39; // Northrop Grumman Litef ISA-100
G320N = 40; // EPSON G320N
CPT_XW5651 = 41; // IMU@SPAN-CPT, and XingWangYuda 5651
UM442 = 42; // UM442
}
message TF {
......@@ -134,5 +133,4 @@ message Config {
optional string gps_channel_name = 28;
optional string bestpos_channel_name = 29;
optional string chassis_channel_name = 30;
}
modules/drivers/gnss/proto/gnss.proto
浏览文件 @ 3a4512fd
......@@ -10,7 +10,8 @@ import "modules/common/proto/geometry.proto";
message Gnss {
optional apollo.common.Header header = 1;
// The time of position measurement, seconds since the GPS epoch (Jan 6, 1980).
// The time of position measurement, seconds since the GPS epoch (Jan 6,
// 1980).
optional double measurement_time = 2; // In seconds.
// When velocity is computed from differentiating successive position
......@@ -36,20 +37,20 @@ message Gnss {
enum Type {
// It is recommended not using the GNSS solution if solution type is INVALID
// or PROPAGATED.
INVALID = 0; // Invalid solution due to insufficient observations,
// integrity warning, etc.
INVALID = 0; // Invalid solution due to insufficient observations,
// integrity warning, etc.
PROPAGATED = 1; // Propagated by a Kalman filter without new observations.
// It is recommended using the following types of solution.
SINGLE = 2; // Standard GNSS solution without any corrections.
PSRDIFF = 3; // Pseudorange differential solution, including WAAS/SBAS
// solution.
PPP = 4; // Precise Point Positioning (PPP) solution.
RTK_FLOAT = 5; // Real Time Kinematic (RTK) float solution.
RTK_INTEGER= 6; // RTK integer solution.
SINGLE = 2; // Standard GNSS solution without any corrections.
PSRDIFF = 3; // Pseudorange differential solution, including WAAS/SBAS
// solution.
PPP = 4; // Precise Point Positioning (PPP) solution.
RTK_FLOAT = 5; // Real Time Kinematic (RTK) float solution.
RTK_INTEGER = 6; // RTK integer solution.
}
optional Type type = 9;
optional uint32 solution_status= 10;
optional uint32 solution_status = 10;
optional uint32 position_type = 11;
}
......
modules/drivers/gnss/proto/gnss_best_pose.proto
浏览文件 @ 3a4512fd
......@@ -5,24 +5,26 @@ package apollo.drivers.gnss;
import "modules/common/proto/header.proto";
enum SolutionStatus {
SOL_COMPUTED = 0; // solution computed
SOL_COMPUTED = 0; // solution computed
INSUFFICIENT_OBS = 1; // insufficient observations
NO_CONVERGENCE = 2; // no convergence
SINGULARITY = 3; // singularity at parameters matrix
COV_TRACE = 4; // covariance trace exceeds maximum (trace > 1000 m)
TEST_DIST = 5; // test distance exceeded (max of 3 rejections if distance > 10
// km)
COLD_START = 6; // not yet converged from cold start
V_H_LIMIT = 7; // height or velocity limits exceeded
VARIANCE = 8; // variance exceeds limits
RESIDUALS = 9; // residuals are too large
NO_CONVERGENCE = 2; // no convergence
SINGULARITY = 3; // singularity at parameters matrix
COV_TRACE = 4; // covariance trace exceeds maximum (trace > 1000 m)
TEST_DIST =
5; // test distance exceeded (max of 3 rejections if distance > 10
// km)
COLD_START = 6; // not yet converged from cold start
V_H_LIMIT = 7; // height or velocity limits exceeded
VARIANCE = 8; // variance exceeds limits
RESIDUALS = 9; // residuals are too large
INTEGRITY_WARNING = 13; // large residuals make position questionable
PENDING = 18; // receiver computes its position and determines if the fixed
// position is valid
INVALID_FIX = 19; // the fixed position entered using the fix position
// command is invalid
INVALID_FIX = 19; // the fixed position entered using the fix position
// command is invalid
UNAUTHORIZED = 20; // position type is unauthorized
INVALID_RATE = 22; // selected logging rate is not supported for this solution type
INVALID_RATE =
22; // selected logging rate is not supported for this solution type
}
enum SolutionType {
......@@ -44,7 +46,8 @@ enum SolutionType {
L1_INT = 48;
WIDE_INT = 49;
NARROW_INT = 50;
RTK_DIRECT_INS = 51; // RTK filter is directly initialized from the INS filter.
RTK_DIRECT_INS =
51; // RTK filter is directly initialized from the INS filter.
INS_SBAS = 52;
INS_PSRSP = 53;
INS_PSRDIFF = 54;
......@@ -71,24 +74,28 @@ message GnssBestPose {
optional double measurement_time = 2; // In seconds.
optional SolutionStatus sol_status = 3;
optional SolutionType sol_type = 4;
optional double latitude = 5; // in degrees
optional double longitude = 6; // in degrees
optional double latitude = 5; // in degrees
optional double longitude = 6; // in degrees
optional double height_msl = 7; // height above mean sea level in meters
optional float undulation = 8; // undulation = height_wgs84 - height_msl
optional DatumId datum_id = 9; // datum id number
optional float latitude_std_dev = 10; // latitude standard deviation (m)
optional float undulation = 8; // undulation = height_wgs84 - height_msl
optional DatumId datum_id = 9; // datum id number
optional float latitude_std_dev = 10; // latitude standard deviation (m)
optional float longitude_std_dev = 11; // longitude standard deviation (m)
optional float height_std_dev = 12; // height standard deviation (m)
optional bytes base_station_id = 13; // base station id
optional float differential_age = 14; // differential position age (sec)
optional float solution_age = 15; // solution age (sec)
optional float height_std_dev = 12; // height standard deviation (m)
optional bytes base_station_id = 13; // base station id
optional float differential_age = 14; // differential position age (sec)
optional float solution_age = 15; // solution age (sec)
optional uint32 num_sats_tracked = 16; // number of satellites tracked
optional uint32 num_sats_in_solution = 17; // number of satellites used in solution
optional uint32 num_sats_l1 = 18; // number of L1/E1/B1 satellites used in solution
optional uint32 num_sats_multi = 19; // number of multi-frequency satellites used in solution
optional uint32 num_sats_in_solution =
17; // number of satellites used in solution
optional uint32 num_sats_l1 =
18; // number of L1/E1/B1 satellites used in solution
optional uint32 num_sats_multi =
19; // number of multi-frequency satellites used in solution
optional uint32 reserved = 20; // reserved
optional uint32 extended_solution_status = 21; // extended solution status - OEMV and
// greater only
optional uint32 extended_solution_status =
21; // extended solution status - OEMV and
// greater only
optional uint32 galileo_beidou_used_mask = 22;
optional uint32 gps_glonass_used_mask = 23;
}
modules/drivers/gnss/proto/gnss_raw_observation.proto
浏览文件 @ 3a4512fd
......@@ -3,195 +3,187 @@ syntax = "proto2";
package apollo.drivers.gnss;
//pre-defined GNSS band frequency ID
enum GnssBandID
{
BAND_UNKNOWN = 0;
GPS_L1 = 1;
GPS_L2 = 2;
GPS_L5 = 3;
BDS_B1 = 4;
BDS_B2 = 5;
BDS_B3 = 6;
GLO_G1 = 7;
GLO_G2 = 8;
GLO_G3 = 9;
// pre-defined GNSS band frequency ID
enum GnssBandID {
BAND_UNKNOWN = 0;
GPS_L1 = 1;
GPS_L2 = 2;
GPS_L5 = 3;
BDS_B1 = 4;
BDS_B2 = 5;
BDS_B3 = 6;
GLO_G1 = 7;
GLO_G2 = 8;
GLO_G3 = 9;
}
//observation and ephemeris related system time type
enum GnssTimeType
{
TIME_UNKNOWN = 0;
GPS_TIME = 1;
BDS_TIME = 2;
GLO_TIME = 3;
GAL_TIME = 4;
// observation and ephemeris related system time type
enum GnssTimeType {
TIME_UNKNOWN = 0;
GPS_TIME = 1;
BDS_TIME = 2;
GLO_TIME = 3;
GAL_TIME = 4;
}
//observation and ephemeris related system type
enum GnssType
{
SYS_UNKNOWN = 0;
GPS_SYS = 1;
BDS_SYS = 2;
GLO_SYS = 3;
GAL_SYS = 4;
// observation and ephemeris related system type
enum GnssType {
SYS_UNKNOWN = 0;
GPS_SYS = 1;
BDS_SYS = 2;
GLO_SYS = 3;
GAL_SYS = 4;
}
//type of pseudo-range
enum PseudoType
{
CODE_UNKNOWN = 0;
CORSE_CODE = 1;
PRECISION_CODE = 2;
// type of pseudo-range
enum PseudoType {
CODE_UNKNOWN = 0;
CORSE_CODE = 1;
PRECISION_CODE = 2;
}
//This message defines one band observation of a certain satellite
message BandObservation
{
//observation on a certain frequency band
optional GnssBandID band_id = 1 [default = BAND_UNKNOWN];
optional double frequency_value = 2;
optional PseudoType pseudo_type = 3 [default = CODE_UNKNOWN];
//unit in meter
optional double pseudo_range = 4;
//unit in cycle
optional double carrier_phase = 5;
//Indicator of losing tracking of the signal
optional uint32 loss_lock_index = 6;
//unit in /s
optional double doppler = 7;
//Signal strength: signal noise ratio or carrier noise ratio
optional float snr = 8;
// This message defines one band observation of a certain satellite
message BandObservation {
// observation on a certain frequency band
optional GnssBandID band_id = 1 [default = BAND_UNKNOWN];
optional double frequency_value = 2;
optional PseudoType pseudo_type = 3 [default = CODE_UNKNOWN];
// unit in meter
optional double pseudo_range = 4;
// unit in cycle
optional double carrier_phase = 5;
// Indicator of losing tracking of the signal
optional uint32 loss_lock_index = 6;
// unit in /s
optional double doppler = 7;
// Signal strength: signal noise ratio or carrier noise ratio
optional float snr = 8;
}
//This message defines one satellite observation of a certain epoch
message SatelliteObservation
{
optional uint32 sat_prn = 1;
optional GnssType sat_sys = 2 [default = GPS_SYS];
optional uint32 band_obs_num = 3;
repeated BandObservation band_obs = 4;
// This message defines one satellite observation of a certain epoch
message SatelliteObservation {
optional uint32 sat_prn = 1;
optional GnssType sat_sys = 2 [default = GPS_SYS];
optional uint32 band_obs_num = 3;
repeated BandObservation band_obs = 4;
}
//This message defines one epoch observation on a certain time of a receiver
message EpochObservation
{
//Unique id to a certain receiver
//0 for rover, otherwise for baser, supporting multi-baser mode
optional uint32 receiver_id = 1;
optional GnssTimeType gnss_time_type = 2 [default = GPS_TIME];
optional uint32 gnss_week = 3;
optional double gnss_second_s = 4;
//Baser observation should be bound with coordinates
//unit in meter
optional double position_x = 5;
//unit in meter
optional double position_y = 6;
//unit in meter
optional double position_z = 7;
//Health indicator: 0 for healthy while 1 for bad observation
optional uint32 health_flag = 8 [default = 0];
//Number of observed satellites
optional uint32 sat_obs_num = 9;
//Group of observed satellite observation
repeated SatelliteObservation sat_obs = 10;
// This message defines one epoch observation on a certain time of a receiver
message EpochObservation {
// Unique id to a certain receiver
// 0 for rover, otherwise for baser, supporting multi-baser mode
optional uint32 receiver_id = 1;
optional GnssTimeType gnss_time_type = 2 [default = GPS_TIME];
optional uint32 gnss_week = 3;
optional double gnss_second_s = 4;
// Baser observation should be bound with coordinates
// unit in meter
optional double position_x = 5;
// unit in meter
optional double position_y = 6;
// unit in meter
optional double position_z = 7;
// Health indicator: 0 for healthy while 1 for bad observation
optional uint32 health_flag = 8 [default = 0];
// Number of observed satellites
optional uint32 sat_obs_num = 9;
// Group of observed satellite observation
repeated SatelliteObservation sat_obs = 10;
}
//This message defines main six keppler orbit parameters and perturbations,
//designed for gps, beidou, (also supporting gnss, galileo)
message KepplerOrbit
{
optional GnssType gnss_type = 1 [default = GPS_SYS];
optional uint32 sat_prn = 2;
optional GnssTimeType gnss_time_type = 3 [default = GPS_TIME];
//TOC: time of clock
optional uint32 year = 4;
optional uint32 month = 5;
optional uint32 day = 6;
optional uint32 hour = 7;
optional uint32 minute = 8;
optional double second_s = 9;
//GNSS week number
optional uint32 week_num = 10;
optional double reserved = 11;
optional double af0 = 12; //clock correction(sec)
optional double af1 = 13; //clock correction(sec/sec)
optional double af2 = 14; //clock correction(sec/sec2)
optional double iode = 15; //Issue Of Data, Ephemeris in subframes 2 and 3
optional double deltan = 16; //mean anomaly correction semi-circles per sec*pi = rads
optional double m0 = 17; //mean anomaly at ref time semi-circles*pi = rads
optional double e = 18; //eccentricity
optional double roota = 19; //sqr root a ( meters 1/2 )
optional double toe = 20; //ref time (sec) of ephemeris
optional double toc = 21; //ref time (sec) of clock
optional double cic = 22; //harmonic correction term(rads)
optional double crc = 23; //harmonic correction term(meters)
optional double cis = 24; //harmonic correction term(rads)
optional double crs = 25; //harmonic correction term(meters)
optional double cuc = 26; //harmonic correction term(rads)
optional double cus = 27; //harmonic correction term(rads)
optional double omega0 = 28; //longitude of ascending node semi-circles*pi = rads
optional double omega = 29; //argument of perigee semi-circles*pi
optional double i0 = 30; //inclination angle at ref time semi-circles*pi
optional double omegadot = 31; //rate of right ascension semi-circles/sec*pi
optional double idot = 32; //rate of inclination semi-circles/sec*pi
optional double codesonL2channel = 33; //pseudo range codes on L2
optional uint32 L2Pdataflag = 34; //data flag of L2P
optional uint32 accuracy = 35; //user range accuracy
optional uint32 health = 36; //satellite health: 0=good,1=bad
optional double tgd = 37; //group delay (s)
optional double iodc = 38; //Issue Of Data, Clock
// This message defines main six keppler orbit parameters and perturbations,
// designed for gps, beidou, (also supporting gnss, galileo)
message KepplerOrbit {
optional GnssType gnss_type = 1 [default = GPS_SYS];
optional uint32 sat_prn = 2;
optional GnssTimeType gnss_time_type = 3 [default = GPS_TIME];
// TOC: time of clock
optional uint32 year = 4;
optional uint32 month = 5;
optional uint32 day = 6;
optional uint32 hour = 7;
optional uint32 minute = 8;
optional double second_s = 9;
// GNSS week number
optional uint32 week_num = 10;
optional double reserved = 11;
optional double af0 = 12; // clock correction(sec)
optional double af1 = 13; // clock correction(sec/sec)
optional double af2 = 14; // clock correction(sec/sec2)
optional double iode = 15; // Issue Of Data, Ephemeris in subframes 2 and 3
optional double deltan =
16; // mean anomaly correction semi-circles per sec*pi = rads
optional double m0 = 17; // mean anomaly at ref time semi-circles*pi = rads
optional double e = 18; // eccentricity
optional double roota = 19; // sqr root a ( meters 1/2 )
optional double toe = 20; // ref time (sec) of ephemeris
optional double toc = 21; // ref time (sec) of clock
optional double cic = 22; // harmonic correction term(rads)
optional double crc = 23; // harmonic correction term(meters)
optional double cis = 24; // harmonic correction term(rads)
optional double crs = 25; // harmonic correction term(meters)
optional double cuc = 26; // harmonic correction term(rads)
optional double cus = 27; // harmonic correction term(rads)
optional double omega0 =
28; // longitude of ascending node semi-circles*pi = rads
optional double omega = 29; // argument of perigee semi-circles*pi
optional double i0 = 30; // inclination angle at ref time semi-circles*pi
optional double omegadot = 31; // rate of right ascension semi-circles/sec*pi
optional double idot = 32; // rate of inclination semi-circles/sec*pi
optional double codesonL2channel = 33; // pseudo range codes on L2
optional uint32 L2Pdataflag = 34; // data flag of L2P
optional uint32 accuracy = 35; // user range accuracy
optional uint32 health = 36; // satellite health: 0=good,1=bad
optional double tgd = 37; // group delay (s)
optional double iodc = 38; // Issue Of Data, Clock
}
//This message defines orbit parameters of GLONASS
message GlonassOrbit
{
optional GnssType gnss_type = 1 [default = GLO_SYS];
optional uint32 slot_prn = 2;
optional GnssTimeType gnss_time_type = 3 [default = GLO_TIME];
//refer to GLONASS time and toc == toe
optional double toe = 4;
//must convert toe to UTC(+0) format and fulfill year, month...second_s,etc.
optional uint32 year = 5;
optional uint32 month = 6;
optional uint32 day = 7;
optional uint32 hour = 8;
optional uint32 minute = 9;
optional double second_s = 10;
//unit in meter
optional int32 frequency_no = 11;
//GNSS week number
optional uint32 week_num = 12;
//GNSS week second in seconds
optional double week_second_s = 13;
//frame broadcasted time
optional double tk = 14;
//clock correction(sec/sec),warning: set clock_offset = -TauN
optional double clock_offset = 15;
//clock correction(sec/sec2),warning: set clock_drift = +GammaN
optional double clock_drift = 16;
//Satellite health : 0=good,1=bad
optional uint32 health = 17;
//unit in meter
optional double position_x = 18;
optional double position_y = 19;
optional double position_z = 20;
//unit in m/s
optional double velocity_x = 21;
optional double velocity_y = 22;
optional double velocity_z = 23;
//unit in m/s2
optional double accelerate_x = 24;
optional double accelerate_y = 25;
optional double accelerate_z = 26;
optional double infor_age = 27;
// This message defines orbit parameters of GLONASS
message GlonassOrbit {
optional GnssType gnss_type = 1 [default = GLO_SYS];
optional uint32 slot_prn = 2;
optional GnssTimeType gnss_time_type = 3 [default = GLO_TIME];
// refer to GLONASS time and toc == toe
optional double toe = 4;
// must convert toe to UTC(+0) format and fulfill year, month...second_s,etc.
optional uint32 year = 5;
optional uint32 month = 6;
optional uint32 day = 7;
optional uint32 hour = 8;
optional uint32 minute = 9;
optional double second_s = 10;
// unit in meter
optional int32 frequency_no = 11;
// GNSS week number
optional uint32 week_num = 12;
// GNSS week second in seconds
optional double week_second_s = 13;
// frame broadcasted time
optional double tk = 14;
// clock correction(sec/sec),warning: set clock_offset = -TauN
optional double clock_offset = 15;
// clock correction(sec/sec2),warning: set clock_drift = +GammaN
optional double clock_drift = 16;
// Satellite health : 0=good,1=bad
optional uint32 health = 17;
// unit in meter
optional double position_x = 18;
optional double position_y = 19;
optional double position_z = 20;
// unit in m/s
optional double velocity_x = 21;
optional double velocity_y = 22;
optional double velocity_z = 23;
// unit in m/s2
optional double accelerate_x = 24;
optional double accelerate_y = 25;
optional double accelerate_z = 26;
optional double infor_age = 27;
}
//This message encapsulates keppler orbit message and glonass message
message GnssEphemeris
{
optional GnssType gnss_type = 1 [default = GLO_SYS];
optional KepplerOrbit keppler_orbit = 2;
optional GlonassOrbit glonass_orbit = 3;
// This message encapsulates keppler orbit message and glonass message
message GnssEphemeris {
optional GnssType gnss_type = 1 [default = GLO_SYS];
optional KepplerOrbit keppler_orbit = 2;
optional GlonassOrbit glonass_orbit = 3;
}
modules/drivers/gnss/proto/heading.proto
浏览文件 @ 3a4512fd
......@@ -5,29 +5,31 @@ package apollo.drivers.gnss;
import "modules/common/proto/header.proto";
message Heading {
optional apollo.common.Header header = 1;
optional double measurement_time = 2;
optional apollo.common.Header header = 1;
optional double measurement_time = 2;
optional uint32 solution_status = 3;
optional uint32 position_type = 4;
optional uint32 solution_status = 3;
optional uint32 position_type = 4;
optional float baseline_length = 5;
optional float heading = 6;
optional float pitch = 7;
optional float baseline_length = 5;
optional float heading = 6;
optional float pitch = 7;
optional float reserved = 8;
optional float heading_std_dev = 9;
optional float pitch_std_dev = 10;
optional float reserved = 8;
optional float heading_std_dev = 9;
optional float pitch_std_dev = 10;
optional bytes station_id = 11;
optional bytes station_id = 11;
optional uint32 satellite_tracked_number = 12;
optional uint32 satellite_soulution_number = 13;
optional uint32 satellite_number_obs = 14; //Number of satellites above the elevation mask angle
optional uint32 satellite_number_multi = 15; //Number of satellites above the mask angle with L2
optional uint32 satellite_tracked_number = 12;
optional uint32 satellite_soulution_number = 13;
optional uint32 satellite_number_obs =
14; // Number of satellites above the elevation mask angle
optional uint32 satellite_number_multi =
15; // Number of satellites above the mask angle with L2
optional uint32 solution_source = 16;
optional uint32 extended_solution_status = 17;
optional uint32 galileo_beidou_sig_mask = 18;
optional uint32 gps_glonass_sig_mask = 19;
optional uint32 solution_source = 16;
optional uint32 extended_solution_status = 17;
optional uint32 galileo_beidou_sig_mask = 18;
optional uint32 gps_glonass_sig_mask = 19;
}
modules/drivers/lidar_velodyne/proto/cloud_node_conf.proto
浏览文件 @ 3a4512fd
......@@ -4,11 +4,12 @@ package apollo.drivers.lidar_velodyne;
message CloudNodeConf {
// min range to publish
optional double min_range = 1 [default = 0.9]; // range: 0.1 ~ 10.0
optional double min_range = 1 [default = 0.9]; // range: 0.1 ~ 10.0
// max range to publish
optional double max_range = 2 [default = 130.0]; // range: 0.1 ~ 200.0
optional double max_range = 2 [default = 130.0]; // range: 0.1 ~ 200.0
// angle defining the center of view
optional double view_direction = 3 [default = 0.0]; // range: -pi ~ pi
optional double view_direction = 3 [default = 0.0]; // range: -pi ~ pi
// angle defining the view width
optional double view_width = 4 [default = 6.2831853071796]; // range: -2*pi ~ 2*pi
optional double view_width = 4
[default = 6.2831853071796]; // range: -2*pi ~ 2*pi
}
modules/drivers/lidar_velodyne/proto/transform_node_conf.proto
浏览文件 @ 3a4512fd
......@@ -4,13 +4,14 @@ package apollo.drivers.lidar_velodyne;
message TransformNodeConf {
// min range to publish
optional double min_range = 1 [default = 0.9]; // range: 0.1 ~ 10.0
optional double min_range = 1 [default = 0.9]; // range: 0.1 ~ 10.0
// max range to publish
optional double max_range = 2 [default = 130.0]; // range: 0.1 ~ 200.0
optional double max_range = 2 [default = 130.0]; // range: 0.1 ~ 200.0
// angle defining the center of view
optional double view_direction = 3 [default = 0.0]; // range: -pi ~ pi
optional double view_direction = 3 [default = 0.0]; // range: -pi ~ pi
// angle defining the view width
optional double view_width = 4 [default = 6.2831853071796]; // range: 0 ~ 2*pi
optional double view_width = 4
[default = 6.2831853071796]; // range: 0 ~ 2*pi
// new frame of reference for point clouds
optional string frame_id = 5 [default = "odom"];
}
modules/drivers/proto/conti_radar.proto
浏览文件 @ 3a4512fd
......@@ -28,19 +28,19 @@ message RadarState_201 {
}
message ContiRadarObs {
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
optional apollo.common.Header header = 1;
optional bool clusterortrack = 2; // 0 = track, 1 = cluster
optional int32 obstacle_id = 3; // obstacle Id
optional bool clusterortrack = 2; // 0 = track, 1 = cluster
optional int32 obstacle_id = 3; // obstacle Id
// longitude distance to the radar; (+) = forward; unit = m
required double longitude_dist = 4;
// lateral distance to the radar; (+) = left; unit = m
......@@ -58,15 +58,17 @@ message ContiRadarObs {
optional double longitude_dist_rms = 10;
// lateral distance standard deviation to the radar; (+) = left; unit = m
optional double lateral_dist_rms = 11;
// longitude velocity standard deviation to the radar; (+) = forward; unit = m/s
// longitude velocity standard deviation to the radar; (+) = forward; unit =
// m/s
optional double longitude_vel_rms = 12;
//lateral velocity standard deviation to the radar; (+) = left; unit = m/s
// lateral velocity standard deviation to the radar; (+) = left; unit = m/s
optional double lateral_vel_rms = 13;
// obstacle probability of existence
optional double probexist = 14;
//The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new from merge
// The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
// from merge
optional int32 meas_state = 15;
// longitude acceleration to the radar; (+) = forward; unit = m/s2
optional double longitude_accel = 16;
......@@ -74,21 +76,25 @@ message ContiRadarObs {
optional double lateral_accel = 17;
// orientation angle to the radar; (+) = counterclockwise; unit = degree
optional double oritation_angle = 18;
// longitude acceleration standard deviation to the radar; (+) = forward; unit = m/s2
// longitude acceleration standard deviation to the radar; (+) = forward; unit
// = m/s2
optional double longitude_accel_rms = 19;
// lateral acceleration standard deviation to the radar; (+) = left; unit = m/s2
// lateral acceleration standard deviation to the radar; (+) = left; unit =
// m/s2
optional double lateral_accel_rms = 20;
// orientation angle standard deviation to the radar; (+) = counterclockwise; unit = degree
// orientation angle standard deviation to the radar; (+) = counterclockwise;
// unit = degree
optional double oritation_angle_rms = 21;
optional double length = 22; // obstacle length; unit = m
optional double width = 23;//obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6: wide; 7: unknown
optional double length = 22; // obstacle length; unit = m
optional double width = 23; // obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6:
// wide; 7: unknown
optional int32 obstacle_class = 24;
}
message ContiRadar {
optional apollo.common.Header header = 1;
repeated ContiRadarObs contiobs = 2; //conti radar obstacle array
repeated ContiRadarObs contiobs = 2; // conti radar obstacle array
optional RadarState_201 radar_state = 3;
optional ClusterListStatus_600 cluster_list_status = 4;
optional ObjectListStatus_60A object_list_status = 5;
......
modules/drivers/proto/delphi_esr.proto
浏览文件 @ 3a4512fd
......@@ -5,7 +5,7 @@ package apollo.drivers;
import "modules/common/proto/header.proto";
message Esr_status9_5e8 {
// Report Message
// Report Message
// [] [0|64]
optional int32 can_tx_path_id_acc_3 = 1;
// [] [0|64]
......@@ -23,7 +23,7 @@ message Esr_status9_5e8 {
}
message Esr_status6_5e5 {
// Report Message
// Report Message
enum Can_tx_vertical_align_updatedType {
CAN_TX_VERTICAL_ALIGN_UPDATED_NOT_UPDATED = 0;
CAN_TX_VERTICAL_ALIGN_UPDATED_UPDATED = 1;
......@@ -91,7 +91,7 @@ message Esr_status6_5e5 {
}
message Esr_status5_5e4 {
// Report Message
// Report Message
// [] [0|0]
optional int32 can_tx_supply_10v_a2d = 1;
// [] [0|0]
......@@ -111,7 +111,7 @@ message Esr_status5_5e4 {
}
message Esr_status3_4e2 {
// Report Message
// Report Message
// [] [0|0]
optional int32 can_tx_sw_version_pld = 1;
// [] [0|0]
......@@ -125,7 +125,7 @@ message Esr_status3_4e2 {
}
message Esr_status4_4e3 {
// Report Message
// Report Message
enum Can_tx_truck_target_detType {
CAN_TX_TRUCK_TARGET_DET_NOT_DETECTED = 0;
CAN_TX_TRUCK_TARGET_DET_DETECTED = 1;
......@@ -151,7 +151,8 @@ message Esr_status4_4e3 {
// [] [0|0]
optional Can_tx_truck_target_detType can_tx_truck_target_det = 1;
// [] [0|0]
optional Can_tx_lr_only_grating_lobe_detType can_tx_lr_only_grating_lobe_det = 2;
optional Can_tx_lr_only_grating_lobe_detType can_tx_lr_only_grating_lobe_det =
2;
// [] [0|0]
optional Can_tx_sidelobe_blockageType can_tx_sidelobe_blockage = 3;
// [] [0|0]
......@@ -177,7 +178,7 @@ message Esr_status4_4e3 {
}
message Esr_trackmotionpower_540 {
// Report Message
// Report Message
// [] [0|1]
optional bool can_tx_track_rolling_count_2 = 1;
optional int32 can_tx_track_can_id_group = 2;
......@@ -191,7 +192,7 @@ message Esr_trackmotionpower_540 {
}
message Acm_inst_req_7e0 {
// Report Message
// Report Message
// [] [0|0]
optional int32 command_ctr = 1;
// [] [0|0]
......@@ -207,7 +208,7 @@ message Acm_inst_req_7e0 {
}
message Esr_track01_500 {
// Report Message
// Report Message
enum Can_tx_track_grouping_changedType {
CAN_TX_TRACK_GROUPING_CHANGED_GROUPINGUNCHANGED = 0;
CAN_TX_TRACK_GROUPING_CHANGED_GROUPINGCHANGED = 1;
......@@ -263,7 +264,7 @@ message Esr_track01_500 {
}
message Esr_valid1_5d0 {
// Report Message
// Report Message
// [] [0|0]
optional int32 can_tx_valid_lr_sn = 1;
// [m/s] [-128|127]
......@@ -277,7 +278,7 @@ message Esr_valid1_5d0 {
}
message Esr_valid2_5d1 {
// Report Message
// Report Message
// [] [0|0]
optional int32 can_tx_valid_mr_sn = 1;
// [m/s] [-128|127]
......@@ -291,7 +292,7 @@ message Esr_valid2_5d1 {
}
message Acm_inst_resp_7e4 {
// Report Message
// Report Message
// [] [0|0]
optional int32 data_7 = 1;
// [] [0|0]
......@@ -311,7 +312,7 @@ message Acm_inst_resp_7e4 {
}
message Vehicle2_4f1 {
// Report Message
// Report Message
enum Can_rx_mr_only_transmitType {
CAN_RX_MR_ONLY_TRANSMIT_OFF = 0;
CAN_RX_MR_ONLY_TRANSMIT_ON = 1;
......@@ -403,7 +404,7 @@ message Vehicle2_4f1 {
}
message Vehicle1_4f0 {
// Report Message
// Report Message
enum Can_rx_steering_angle_validityType {
CAN_RX_STEERING_ANGLE_VALIDITY_INVALID = 0;
CAN_RX_STEERING_ANGLE_VALIDITY_VALID = 1;
......@@ -425,13 +426,15 @@ message Vehicle1_4f0 {
CAN_RX_VEHICLE_SPEED_DIRECTION_REVERSE = 1;
}
// [] [0|0]
optional Can_rx_steering_angle_validityType can_rx_steering_angle_validity = 1;
optional Can_rx_steering_angle_validityType can_rx_steering_angle_validity =
1;
// [deg/s] [0|2047]
optional int32 can_rx_steering_angle_rate = 2;
// [] [0|0]
optional Can_rx_steering_angle_signType can_rx_steering_angle_sign = 3;
// [] [0|0]
optional Can_rx_steering_angle_rate_signType can_rx_steering_angle_rate_sign = 4;
optional Can_rx_steering_angle_rate_signType can_rx_steering_angle_rate_sign =
4;
// [deg] [0|2047]
optional int32 can_rx_steering_angle = 5;
// [m] [-8192|8191]
......@@ -441,13 +444,14 @@ message Vehicle1_4f0 {
// [deg/s] [-128|127.9375]
optional double can_rx_yaw_rate = 8;
// [] [0|0]
optional Can_rx_vehicle_speed_directionType can_rx_vehicle_speed_direction = 9;
optional Can_rx_vehicle_speed_directionType can_rx_vehicle_speed_direction =
9;
// [m/s] [0|127.9375]
optional double can_rx_vehicle_speed = 10;
}
message Esr_sim1_5c0 {
// Report Message
// Report Message
enum Can_rx_sim_track_idType {
CAN_RX_SIM_TRACK_ID_NO_TARGET = 0;
CAN_RX_SIM_TRACK_ID_TARGET_1 = 1;
......@@ -490,7 +494,7 @@ message Esr_sim1_5c0 {
}
message Esr_status1_4e0 {
// Report Message
// Report Message
// [ms] [0|254]
optional double can_tx_dsp_timestamp = 1;
// [] [0|0]
......@@ -508,7 +512,7 @@ message Esr_status1_4e0 {
}
message Esr_status2_4e1 {
// Report Message
// Report Message
enum Can_tx_raw_data_modeType {
CAN_TX_RAW_DATA_MODE_FILTERED = 0;
CAN_TX_RAW_DATA_MODE_RAW = 1;
......@@ -564,7 +568,7 @@ message Esr_status2_4e1 {
}
message Esr_status8_5e7 {
// Report Message
// Report Message
// [] [0|0]
optional int32 can_tx_history_fault_7 = 1;
// [] [0|0]
......@@ -584,7 +588,7 @@ message Esr_status8_5e7 {
}
message Esr_status7_5e6 {
// Report Message
// Report Message
// [] [0|0]
optional int32 can_tx_active_fault_7 = 1;
// [] [0|0]
......@@ -604,7 +608,7 @@ message Esr_status7_5e6 {
}
message Vehicle3_5f2 {
// Report Message
// Report Message
enum Can_rx_serv_align_typeType {
CAN_RX_SERV_ALIGN_TYPE_AUTO_OR_DEALER = 0;
CAN_RX_SERV_ALIGN_TYPE_VOLVO_SHORT_TRACK = 1;
......@@ -668,7 +672,7 @@ message Vehicle3_5f2 {
}
message Vehicle4_5f3 {
// Report Message
// Report Message
enum Can_rx_fac_align_cmd_2Type {
CAN_RX_FAC_ALIGN_CMD_2_OFF = 0;
CAN_RX_FAC_ALIGN_CMD_2_ON = 1;
......@@ -700,7 +704,7 @@ message Vehicle4_5f3 {
}
message Vehicle5_5f4 {
// Report Message
// Report Message
enum Can_rx_yaw_rate_bias_shiftType {
CAN_RX_YAW_RATE_BIAS_SHIFT_NO_DETECT = 0;
CAN_RX_YAW_RATE_BIAS_SHIFT_DETECT = 1;
......@@ -726,7 +730,7 @@ message Vehicle5_5f4 {
}
message Vehicle6_5f5 {
// Report Message
// Report Message
// [m] [-2|10]
optional double can_rx_inner_funnel_offset_right = 1;
// [m] [-2|10]
......@@ -741,26 +745,27 @@ message Vehicle6_5f5 {
message DelphiESR {
optional apollo.common.Header header = 1;
optional Esr_status9_5e8 esr_status9_5e8 = 2; // report message
optional Esr_status6_5e5 esr_status6_5e5 = 3; // report message
optional Esr_status5_5e4 esr_status5_5e4 = 4; // report message
optional Esr_status3_4e2 esr_status3_4e2 = 5; // report message
optional Esr_status4_4e3 esr_status4_4e3 = 6; // report message
repeated Esr_trackmotionpower_540 esr_trackmotionpower_540 = 7; // report message
optional Acm_inst_req_7e0 acm_inst_req_7e0 = 8; // report message
repeated Esr_track01_500 esr_track01_500 = 9; // report message
optional Esr_valid1_5d0 esr_valid1_5d0 = 10; // report message
optional Esr_valid2_5d1 esr_valid2_5d1 = 11; // report message
optional Acm_inst_resp_7e4 acm_inst_resp_7e4 = 12; // report message
optional Vehicle2_4f1 vehicle2_4f1 = 13; // report message
optional Vehicle1_4f0 vehicle1_4f0 = 14; // report message
optional Esr_sim1_5c0 esr_sim1_5c0 = 15; // report message
optional Esr_status1_4e0 esr_status1_4e0 = 16; // report message
optional Esr_status2_4e1 esr_status2_4e1 = 17; // report message
optional Esr_status8_5e7 esr_status8_5e7 = 18; // report message
optional Esr_status7_5e6 esr_status7_5e6 = 19; // report message
optional Vehicle3_5f2 vehicle3_5f2 = 20; // report message
optional Vehicle4_5f3 vehicle4_5f3 = 21; // report message
optional Vehicle5_5f4 vehicle5_5f4 = 22; // report message
optional Vehicle6_5f5 vehicle6_5f5 = 23; // report message
optional Esr_status9_5e8 esr_status9_5e8 = 2; // report message
optional Esr_status6_5e5 esr_status6_5e5 = 3; // report message
optional Esr_status5_5e4 esr_status5_5e4 = 4; // report message
optional Esr_status3_4e2 esr_status3_4e2 = 5; // report message
optional Esr_status4_4e3 esr_status4_4e3 = 6; // report message
repeated Esr_trackmotionpower_540 esr_trackmotionpower_540 =
7; // report message
optional Acm_inst_req_7e0 acm_inst_req_7e0 = 8; // report message
repeated Esr_track01_500 esr_track01_500 = 9; // report message
optional Esr_valid1_5d0 esr_valid1_5d0 = 10; // report message
optional Esr_valid2_5d1 esr_valid2_5d1 = 11; // report message
optional Acm_inst_resp_7e4 acm_inst_resp_7e4 = 12; // report message
optional Vehicle2_4f1 vehicle2_4f1 = 13; // report message
optional Vehicle1_4f0 vehicle1_4f0 = 14; // report message
optional Esr_sim1_5c0 esr_sim1_5c0 = 15; // report message
optional Esr_status1_4e0 esr_status1_4e0 = 16; // report message
optional Esr_status2_4e1 esr_status2_4e1 = 17; // report message
optional Esr_status8_5e7 esr_status8_5e7 = 18; // report message
optional Esr_status7_5e6 esr_status7_5e6 = 19; // report message
optional Vehicle3_5f2 vehicle3_5f2 = 20; // report message
optional Vehicle4_5f3 vehicle4_5f3 = 21; // report message
optional Vehicle5_5f4 vehicle5_5f4 = 22; // report message
optional Vehicle6_5f5 vehicle6_5f5 = 23; // report message
}
modules/drivers/proto/mobileye.proto
浏览文件 @ 3a4512fd
......@@ -5,141 +5,141 @@ package apollo.drivers;
import "modules/common/proto/header.proto";
message Lka_768 {
optional int32 lane_type = 1;
optional int32 quality = 2;
optional int32 model_degree = 3;
optional double position = 4;
optional double curvature = 5;
optional double curvature_derivative = 6;
optional double width_right_marking = 7;
optional int32 lane_type = 1;
optional int32 quality = 2;
optional int32 model_degree = 3;
optional double position = 4;
optional double curvature = 5;
optional double curvature_derivative = 6;
optional double width_right_marking = 7;
}
message Num_76b {
optional int32 num_of_next_lane_mark_reported = 1;
optional int32 num_of_next_lane_mark_reported = 1;
}
message Aftermarket_669 {
optional int32 lane_conf_left = 1;
optional bool ldw_availability_left = 2;
optional int32 lane_type_left = 3;
optional double distance_to_lane_l = 4;
optional int32 lane_conf_right = 5;
optional bool ldw_availability_right = 6;
optional int32 lane_type_right = 7;
optional double distance_to_lane_r = 8;
optional int32 lane_conf_left = 1;
optional bool ldw_availability_left = 2;
optional int32 lane_type_left = 3;
optional double distance_to_lane_l = 4;
optional int32 lane_conf_right = 5;
optional bool ldw_availability_right = 6;
optional int32 lane_type_right = 7;
optional double distance_to_lane_r = 8;
}
message Lka_769 {
optional double heading_angle = 1;
optional double view_range = 2;
optional bool view_range_availability = 3;
optional double heading_angle = 1;
optional double view_range = 2;
optional bool view_range_availability = 3;
}
message Reference_76a {
optional double ref_point_1_position = 1;
optional double ref_point_1_distance = 2;
optional bool ref_point_1_validity = 3;
optional double ref_point_2_position = 4;
optional double ref_point_2_distance = 5;
optional bool ref_point_2_validity = 6;
optional double ref_point_1_position = 1;
optional double ref_point_1_distance = 2;
optional bool ref_point_1_validity = 3;
optional double ref_point_2_position = 4;
optional double ref_point_2_distance = 5;
optional bool ref_point_2_validity = 6;
}
message Details_738 {
optional int32 num_obstacles = 1;
optional int32 timestamp = 2;
optional int32 application_version = 3;
optional int32 active_version_number_section = 4;
optional bool left_close_rang_cut_in = 5;
optional bool right_close_rang_cut_in = 6;
optional int32 go = 7;
optional int32 protocol_version = 8;
optional bool close_car = 9;
optional int32 failsafe = 10;
optional int32 reserved_10 = 11;
optional int32 num_obstacles = 1;
optional int32 timestamp = 2;
optional int32 application_version = 3;
optional int32 active_version_number_section = 4;
optional bool left_close_rang_cut_in = 5;
optional bool right_close_rang_cut_in = 6;
optional int32 go = 7;
optional int32 protocol_version = 8;
optional bool close_car = 9;
optional int32 failsafe = 10;
optional int32 reserved_10 = 11;
}
message Next_76c {
optional int32 lane_type = 1;
optional int32 quality = 2;
optional int32 model_degree = 3;
optional double position = 4;
optional double curvature = 5;
optional double curvature_derivative = 6;
optional double lane_mark_width = 7;
optional int32 lane_type = 1;
optional int32 quality = 2;
optional int32 model_degree = 3;
optional double position = 4;
optional double curvature = 5;
optional double curvature_derivative = 6;
optional double lane_mark_width = 7;
}
message Details_737 {
optional double lane_curvature = 1;
optional double lane_heading = 2;
optional bool ca_construction_area = 3;
optional bool right_ldw_availability = 4;
optional bool left_ldw_availability = 5;
optional bool reserved_1 = 6;
optional double yaw_angle = 7;
optional double pitch_angle = 8;
optional double lane_curvature = 1;
optional double lane_heading = 2;
optional bool ca_construction_area = 3;
optional bool right_ldw_availability = 4;
optional bool left_ldw_availability = 5;
optional bool reserved_1 = 6;
optional double yaw_angle = 7;
optional double pitch_angle = 8;
}
message Lka_767 {
optional double heading_angle = 1;
optional double view_range = 2;
optional bool view_range_availability = 3;
optional double heading_angle = 1;
optional double view_range = 2;
optional bool view_range_availability = 3;
}
message Lka_766 {
optional int32 lane_type = 1;
optional int32 quality = 2;
optional int32 model_degree = 3;
optional double position = 4;
optional double curvature = 5;
optional double curvature_derivative = 6;
optional double width_left_marking = 7;
optional int32 lane_type = 1;
optional int32 quality = 2;
optional int32 model_degree = 3;
optional double position = 4;
optional double curvature = 5;
optional double curvature_derivative = 6;
optional double width_left_marking = 7;
}
message Next_76d {
optional double heading_angle = 1;
optional double view_range = 2;
optional bool view_range_availability = 3;
optional double heading_angle = 1;
optional double view_range = 2;
optional bool view_range_availability = 3;
}
message Details_739 {
optional int32 obstacle_id = 1;
optional double obstacle_pos_x = 2;
optional int32 reseved_2 = 3;
optional double obstacle_pos_y = 4;
optional int32 blinker_info = 5;
optional int32 cut_in_and_out = 6;
optional double obstacle_rel_vel_x = 7;
optional int32 obstacle_type = 8;
optional bool reserved_3 = 9;
optional int32 obstacle_status = 10;
optional bool obstacle_brake_lights = 11;
optional int32 reserved_4 = 12;
optional int32 obstacle_valid = 13;
optional int32 obstacle_id = 1;
optional double obstacle_pos_x = 2;
optional int32 reseved_2 = 3;
optional double obstacle_pos_y = 4;
optional int32 blinker_info = 5;
optional int32 cut_in_and_out = 6;
optional double obstacle_rel_vel_x = 7;
optional int32 obstacle_type = 8;
optional bool reserved_3 = 9;
optional int32 obstacle_status = 10;
optional bool obstacle_brake_lights = 11;
optional int32 reserved_4 = 12;
optional int32 obstacle_valid = 13;
}
message Details_73a {
optional double obstacle_length = 1;
optional double obstacle_width = 2;
optional int32 obstacle_age = 3;
optional int32 obstacle_lane = 4;
optional bool cipv_flag = 5;
optional bool reserved_5 = 6;
optional double radar_pos_x = 7;
optional double radar_vel_x = 8;
optional int32 radar_match_confidence = 9;
optional bool reserved_6 = 10;
optional int32 matched_radar_id = 11;
optional bool reserved_7 = 12;
optional double obstacle_length = 1;
optional double obstacle_width = 2;
optional int32 obstacle_age = 3;
optional int32 obstacle_lane = 4;
optional bool cipv_flag = 5;
optional bool reserved_5 = 6;
optional double radar_pos_x = 7;
optional double radar_vel_x = 8;
optional int32 radar_match_confidence = 9;
optional bool reserved_6 = 10;
optional int32 matched_radar_id = 11;
optional bool reserved_7 = 12;
}
message Details_73b {
optional double obstacle_angle_rate = 1;
optional double obstacle_scale_change = 2;
optional double object_accel_x = 3;
optional int32 reserved_8 = 4;
optional bool obstacle_replaced = 5;
optional int32 reserved_9 = 6;
optional double obstacle_angle = 7;
optional double obstacle_angle_rate = 1;
optional double obstacle_scale_change = 2;
optional double object_accel_x = 3;
optional int32 reserved_8 = 4;
optional bool obstacle_replaced = 5;
optional int32 reserved_9 = 6;
optional double obstacle_angle = 7;
}
message Mobileye {
......
modules/drivers/proto/racobit_radar.proto
浏览文件 @ 3a4512fd
......@@ -28,19 +28,19 @@ message RacobitRadarState_201 {
}
message RacobitRadarObs {
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
optional apollo.common.Header header = 1;
optional bool clusterortrack = 2; // 0 = track, 1 = cluster
optional int32 obstacle_id = 3; // obstacle Id
optional bool clusterortrack = 2; // 0 = track, 1 = cluster
optional int32 obstacle_id = 3; // obstacle Id
// longitude distance to the radar; (+) = forward; unit = m
required double longitude_dist = 4;
// lateral distance to the radar; (+) = left; unit = m
......@@ -58,15 +58,17 @@ message RacobitRadarObs {
optional double longitude_dist_rms = 10;
// lateral distance standard deviationto the radar; (+) = left; unit = m
optional double lateral_dist_rms = 11;
// longitude velocity standard deviation to the radar; (+) = farword; unit = m/s
// longitude velocity standard deviation to the radar; (+) = farword; unit =
// m/s
optional double longitude_vel_rms = 12;
//lateral velocity standard deviation to the radar; (+) = left; unit = m/s
// lateral velocity standard deviation to the radar; (+) = left; unit = m/s
optional double lateral_vel_rms = 13;
// obstacle probablity of existence
optional double probexist = 14;
//The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new from merge
// The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
// from merge
optional int32 meas_state = 15;
// longitude acceleration to the radar; (+) = farword; unit = m/s2
optional double longitude_accel = 16;
......@@ -74,21 +76,25 @@ message RacobitRadarObs {
optional double lateral_accel = 17;
// oritation angle to the radar; (+) = conterclockwise; unit = degree
optional double oritation_angle = 18;
// longitude acceleration standard deviation to the radar; (+) = farword; unit = m/s2
// longitude acceleration standard deviation to the radar; (+) = farword; unit
// = m/s2
optional double longitude_accel_rms = 19;
// lateral acclearation standard deviation to the radar; (+) = left; unit = m/s2
// lateral acclearation standard deviation to the radar; (+) = left; unit =
// m/s2
optional double lateral_accel_rms = 20;
// oritation angle standard deviation to the radar; (+) = conterclockwise; unit = degree
// oritation angle standard deviation to the radar; (+) = conterclockwise;
// unit = degree
optional double oritation_angle_rms = 21;
optional double length = 22; // obstacle length; unit = m
optional double width = 23;//obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motocycle; 5: bicycle; 6: wide; 7: unknown
optional double length = 22; // obstacle length; unit = m
optional double width = 23; // obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motocycle; 5: bicycle; 6:
// wide; 7: unknown
optional int32 obstacle_class = 24;
}
message RacobitRadar {
optional apollo.common.Header header = 1;
repeated RacobitRadarObs contiobs = 2; //conti radar obstacle array
repeated RacobitRadarObs contiobs = 2; // conti radar obstacle array
optional RacobitRadarState_201 radar_state = 3;
optional RacobitClusterListStatus_600 cluster_list_status = 4;
optional RacobitObjectListStatus_60A object_list_status = 5;
......
modules/drivers/proto/radar.proto
浏览文件 @ 3a4512fd
......@@ -7,36 +7,40 @@ import "modules/common/proto/header.proto";
import "modules/common/proto/geometry.proto";
message RadarObstacle {
enum Status {
NO_TARGET = 0;
NEW_TARGET = 1;
NEW_UPDATED_TARGET = 2;
UPDATED_TARGET = 3;
COASTED_TARGET = 4;
MERGED_TARGET = 5;
INVALID_COASTED_TARGET = 6;
NEW_COASTED_TARGET = 7;
}
enum Status {
NO_TARGET = 0;
NEW_TARGET = 1;
NEW_UPDATED_TARGET = 2;
UPDATED_TARGET = 3;
COASTED_TARGET = 4;
MERGED_TARGET = 5;
INVALID_COASTED_TARGET = 6;
NEW_COASTED_TARGET = 7;
}
enum MovingStatus {
STATIONARY = 0;
NEARING = 1;
AWAYING = 2;
NONE = 3;
}
enum MovingStatus {
STATIONARY = 0;
NEARING = 1;
AWAYING = 2;
NONE = 3;
}
optional int32 id = 1; // obstacle ID.
optional apollo.common.Point2D relative_position = 2; // obstacle position in the sl coordinate system.
optional apollo.common.Point2D relative_velocity = 3; // obstacle relative velocity.
optional apollo.common.Point2D relative_position =
2; // obstacle position in the sl coordinate system.
optional apollo.common.Point2D relative_velocity =
3; // obstacle relative velocity.
optional double rcs = 4; // radar signal intensity.
optional MovingStatus moving_status = 5; // whether this obstacle is able to move.
optional MovingStatus moving_status =
5; // whether this obstacle is able to move.
optional double width = 6;
optional double length = 7;
optional double height = 8;
optional double theta = 9;
optional apollo.common.Point2D absolute_position = 10; // obstacle position in map coordinate system
optional apollo.common.Point2D absolute_velocity = 11; // obstacle position in map coordinate system
optional apollo.common.Point2D absolute_position =
10; // obstacle position in map coordinate system
optional apollo.common.Point2D absolute_velocity =
11; // obstacle position in map coordinate system
optional int32 count = 12;
optional int32 moving_frames_count = 13;
optional Status status = 14;
......@@ -44,6 +48,6 @@ enum Status {
message RadarObstacles {
map<int32, RadarObstacle> radar_obstacle = 1; // An array of obstacles
optional apollo.common.Header header = 2; // Header
optional apollo.common.Header header = 2; // Header
optional apollo.common.ErrorCode error_code = 3 [default = OK];
}
modules/drivers/proto/sensor_image.proto
浏览文件 @ 3a4512fd
......@@ -6,56 +6,56 @@ import "modules/common/proto/header.proto";
// Encoding of pixels -- channel meaning, ordering, size
enum PixelFormat {
RGB8 = 1001;
RGBA8 = 1002;
RGB16 = 1003;
RGBA16 = 1004;
BGR8 = 1005;
BGRA8 = 1006;
BGR16 = 1007;
BGRA16 = 1008;
MONO8 = 1009;
MONO16 = 1010;
RGB8 = 1001;
RGBA8 = 1002;
RGB16 = 1003;
RGBA16 = 1004;
BGR8 = 1005;
BGRA8 = 1006;
BGR16 = 1007;
BGRA16 = 1008;
MONO8 = 1009;
MONO16 = 1010;
// OpenCV CvMat types
TYPE_8UC1 = 2001;
TYPE_8UC2 = 2002;
TYPE_8UC3 = 2003;
TYPE_8UC4 = 2004;
TYPE_8SC1 = 2005;
TYPE_8SC2 = 2006;
TYPE_8SC3 = 2007;
TYPE_8SC4 = 2008;
TYPE_16UC1 = 2009;
TYPE_16UC2 = 2010;
TYPE_16UC3 = 2011;
TYPE_16UC4 = 2012;
TYPE_16SC1 = 2013;
TYPE_16SC2 = 2014;
TYPE_16SC3 = 2015;
TYPE_16SC4 = 2016;
TYPE_32SC1 = 2017;
TYPE_32SC2 = 2018;
TYPE_32SC3 = 2019;
TYPE_32SC4 = 2020;
TYPE_32FC1 = 2021;
TYPE_32FC2 = 2022;
TYPE_32FC3 = 2023;
TYPE_32FC4 = 2024;
TYPE_64FC1 = 2025;
TYPE_64FC2 = 2026;
TYPE_64FC3 = 2027;
TYPE_64FC4 = 2028;
TYPE_8UC1 = 2001;
TYPE_8UC2 = 2002;
TYPE_8UC3 = 2003;
TYPE_8UC4 = 2004;
TYPE_8SC1 = 2005;
TYPE_8SC2 = 2006;
TYPE_8SC3 = 2007;
TYPE_8SC4 = 2008;
TYPE_16UC1 = 2009;
TYPE_16UC2 = 2010;
TYPE_16UC3 = 2011;
TYPE_16UC4 = 2012;
TYPE_16SC1 = 2013;
TYPE_16SC2 = 2014;
TYPE_16SC3 = 2015;
TYPE_16SC4 = 2016;
TYPE_32SC1 = 2017;
TYPE_32SC2 = 2018;
TYPE_32SC3 = 2019;
TYPE_32SC4 = 2020;
TYPE_32FC1 = 2021;
TYPE_32FC2 = 2022;
TYPE_32FC3 = 2023;
TYPE_32FC4 = 2024;
TYPE_64FC1 = 2025;
TYPE_64FC2 = 2026;
TYPE_64FC3 = 2027;
TYPE_64FC4 = 2028;
// Bayer encodings
BAYER_RGGB8 = 3001;
BAYER_BGGR8 = 3002;
BAYER_GBRG8 = 3003;
BAYER_GRBG8 = 3004;
BAYER_RGGB16 = 3005;
BAYER_BGGR16 = 3006;
BAYER_GBRG16 = 3007;
BAYER_GRBG16 = 3008;
BAYER_RGGB8 = 3001;
BAYER_BGGR8 = 3002;
BAYER_GBRG8 = 3003;
BAYER_GRBG8 = 3004;
BAYER_RGGB16 = 3005;
BAYER_BGGR16 = 3006;
BAYER_GBRG16 = 3007;
BAYER_GRBG16 = 3008;
// Miscellaneous
// This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
......@@ -68,12 +68,12 @@ message Image {
optional string frame_id = 2;
required double measurement_time = 3;
optional uint32 height = 4; // image height, that is, number of rows
optional uint32 width = 5; // image width, that is, number of columns
optional uint32 height = 4; // image height, that is, number of rows
optional uint32 width = 5; // image width, that is, number of columns
optional string encoding = 6;
optional uint32 step = 7; // Full row length in bytes
optional bytes data = 8; // actual matrix data, size is (step * rows)
optional uint32 step = 7; // Full row length in bytes
optional bytes data = 8; // actual matrix data, size is (step * rows)
}
message CompressedImage {
......@@ -83,5 +83,5 @@ message CompressedImage {
// Specifies the format of the data
// Acceptable values: jpeg, png
optional string format = 3;
optional bytes data = 4; // Compressed image buffer
optional bytes data = 4; // Compressed image buffer
}
\ No newline at end of file
modules/drivers/proto/ultrasonic_radar.proto
浏览文件 @ 3a4512fd
......@@ -4,26 +4,25 @@ package apollo.drivers;
import "modules/common/proto/header.proto";
message Ultrasonic{
//
// x axis
// ^
// |
// * | *
// * | *
// \ * | * /
// \ * range(i) * /
// \ | /
// \ | /
// \ | /
// y axis \ | /
// <---------------
// ooooooooooooo //ultrasonic radar front surface
//
// In every working cycle, each radar of the ultrasonic system
// return a range to form a range array, 'ranges'.
message Ultrasonic {
//
// x axis
// ^
// |
// * | *
// * | *
// \ * | * /
// \ * range(i) * /
// \ | /
// \ | /
// \ | /
// y axis \ | /
// <---------------
// ooooooooooooo //ultrasonic radar front surface
//
// In every working cycle, each radar of the ultrasonic system
// return a range to form a range array, 'ranges'.
optional apollo.common.Header header = 1;
repeated float ranges = 2;
}
modules/drivers/usb_cam/proto/config.proto
浏览文件 @ 3a4512fd
......@@ -3,43 +3,42 @@ syntax = "proto2";
package apollo.drivers.usb_cam.config;
enum IOMethod {
IO_METHOD_UNKNOWN = 0;
IO_METHOD_READ = 1;
IO_METHOD_MMAP = 2;
IO_METHOD_USERPTR = 3;
IO_METHOD_UNKNOWN = 0;
IO_METHOD_READ = 1;
IO_METHOD_MMAP = 2;
IO_METHOD_USERPTR = 3;
}
message Config {
required string camera_dev = 1;
required string frame_id = 2;
//v4l pixel format
required string pixel_format = 3 [default="yuyv"];
//mmap, userptr, read
// v4l pixel format
required string pixel_format = 3 [default = "yuyv"];
// mmap, userptr, read
required IOMethod io_method = 4;
required uint32 width = 5;
required uint32 height = 6;
required uint32 frame_rate = 7;
required bool monochrome = 8 [default=false];
required bool monochrome = 8 [default = false];
required int32 brightness = 9 [default=-1];
required int32 contrast = 10 [default=-1];
required int32 saturation = 11 [default=-1];
required int32 sharpness = 12 [default=-1];
required int32 gain = 13 [default=-1];
required int32 brightness = 9 [default = -1];
required int32 contrast = 10 [default = -1];
required int32 saturation = 11 [default = -1];
required int32 sharpness = 12 [default = -1];
required int32 gain = 13 [default = -1];
required bool auto_focus = 14 [default=false];
required int32 focus = 15 [default=-1];
required bool auto_exposure = 16 [default=true];
required int32 exposure = 17 [default=100];
required bool auto_white_balance = 18 [default=true];
required int32 white_balance = 19 [default=4000];
required uint32 bytes_per_pixel = 20 [default=3];
required uint32 trigger_internal = 21 [default=0];
required uint32 trigger_fps = 22 [default=30];
optional string channel_name = 23 [ default="" ];
required bool auto_focus = 14 [default = false];
required int32 focus = 15 [default = -1];
required bool auto_exposure = 16 [default = true];
required int32 exposure = 17 [default = 100];
required bool auto_white_balance = 18 [default = true];
required int32 white_balance = 19 [default = 4000];
required uint32 bytes_per_pixel = 20 [default = 3];
required uint32 trigger_internal = 21 [default = 0];
required uint32 trigger_fps = 22 [default = 30];
optional string channel_name = 23 [default = ""];
// wait time when camera select timeout
optional float device_wait = 24 [ default=2.0];
// camera select spin time
optional float spin_rate = 25 [ default=0.005];
optional float device_wait = 24 [default = 2.0];
// camera select spin time
optional float spin_rate = 25 [default = 0.005];
}
modules/drivers/velodyne/proto/velodyne.proto
浏览文件 @ 3a4512fd
......@@ -5,20 +5,20 @@ package apollo.drivers.velodyne;
import "modules/common/proto/header.proto";
enum Model {
UNKOWN = 0;
HDL64E_S3S = 1;
HDL64E_S3D = 2;
HDL64E_S2 = 3;
HDL32E = 4;
VLP16 = 5;
VLP32C = 6;
VLS128 = 7;
UNKOWN = 0;
HDL64E_S3S = 1;
HDL64E_S3D = 2;
HDL64E_S2 = 3;
HDL32E = 4;
VLP16 = 5;
VLP32C = 6;
VLS128 = 7;
}
enum Mode {
STRONGEST = 1;
LAST = 2;
DUAL = 3;
STRONGEST = 1;
LAST = 2;
DUAL = 3;
}
message VelodynePacket {
......@@ -28,14 +28,14 @@ message VelodynePacket {
message VelodyneScan {
optional apollo.common.Header header = 1;
required Model model = 2; // velodyne device model
required Mode mode = 3; // velodyne work mode
required Model model = 2; // velodyne device model
required Mode mode = 3; // velodyne work mode
repeated VelodynePacket firing_pkts = 4;
//for HDL32 and VLP16
// for HDL32 and VLP16
repeated VelodynePacket positioning_pkts = 5;
// velodyne device serial number, corresponds to a specific calibration file
// velodyne device serial number, corresponds to a specific calibration file
optional string sn = 6;
required uint64 basetime = 7 [default = 0];
}
modules/example/component_driver/proto/driver_conf.proto
浏览文件 @ 3a4512fd
......@@ -3,6 +3,6 @@ syntax = "proto2";
package apollo.modules.example.component_driver.proto;
message DriverConf {
optional string channel1 = 1;
optional string channel2 = 2;
optional string channel1 = 1;
optional string channel2 = 2;
}
\ No newline at end of file
modules/guardian/proto/guardian_conf.proto
浏览文件 @ 3a4512fd
......@@ -3,11 +3,11 @@ syntax = "proto2";
package apollo.guardian;
message GuardianConf {
optional string chassis_channel = 1;
optional string system_status_channel = 2;
optional string control_command_channel = 3;
optional string guardian_channel = 4;
optional bool guardian_enable = 5 [default = false];
optional double guardian_cmd_emergency_stop_percentage = 6 [default = 50];
optional double guardian_cmd_soft_stop_percentage = 7 [default = 25];
optional string chassis_channel = 1;
optional string system_status_channel = 2;
optional string control_command_channel = 3;
optional string guardian_channel = 4;
optional bool guardian_enable = 5 [default = false];
optional double guardian_cmd_emergency_stop_percentage = 6 [default = 50];
optional double guardian_cmd_soft_stop_percentage = 7 [default = 25];
}
\ No newline at end of file
modules/localization/proto/gnss_pnt_result.proto
浏览文件 @ 3a4512fd
......@@ -4,7 +4,7 @@ package apollo.localization;
import "modules/drivers/gnss/proto/gnss_raw_observation.proto";
//Define a rover' direction cosine to an observed satellite under WGS-84
// Define a rover' direction cosine to an observed satellite under WGS-84
message SatDirCosine {
optional uint32 sat_prn = 1;
optional uint32 sat_sys = 2;
......@@ -20,37 +20,40 @@ enum PntType {
PNT_RTK_FLOAT = 4;
PNT_RTK_FIXED = 5;
}
//Define the position result of a rover,
//and pnt stands for Positioning, Navigating and Timing
// Define the position result of a rover,
// and pnt stands for Positioning, Navigating and Timing
message GnssPntResult {
optional uint32 receiver_id = 1;
optional apollo.drivers.gnss.GnssTimeType time_type = 2 [default = GPS_TIME];
optional uint32 gnss_week = 3;
optional double gnss_second_s = 4;
//Solution type
optional PntType pnt_type = 5 [default = PNT_INVALID];;
//Position and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84 coordinate
// Solution type
optional PntType pnt_type = 5 [default = PNT_INVALID];
;
// Position and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84
// coordinate
optional double pos_x_m = 6;
optional double pos_y_m = 7;
optional double pos_z_m = 8;
optional double std_pos_x_m = 9;
optional double std_pos_y_m = 10;
optional double std_pos_z_m = 11;
//Velocity and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84 coordinate
// Velocity and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84
// coordinate
optional double vel_x_m = 12;
optional double vel_y_m = 13;
optional double vel_z_m = 14;
optional double std_vel_x_m = 15;
optional double std_vel_y_m = 16;
optional double std_vel_z_m = 17;
//Number of satellites involved in solution
// Number of satellites involved in solution
optional uint32 sovled_sat_num = 18;
//Group of observed satellites' directio cosine
repeated SatDirCosine sat_dir_cosine = 19;
//position dilution of precision
// Group of observed satellites' directio cosine
repeated SatDirCosine sat_dir_cosine = 19;
// position dilution of precision
optional double pdop = 20;
//horizontal dilution of precision
// horizontal dilution of precision
optional double hdop = 21;
//vertical dilution of precision
// vertical dilution of precision
optional double vdop = 22;
}
modules/localization/proto/measure.proto
浏览文件 @ 3a4512fd
......@@ -8,26 +8,26 @@ import "modules/common/proto/geometry.proto";
message IntegMeasure {
optional apollo.common.Header header = 1;
enum MeasureType{
//the measure data only include gnss position
enum MeasureType {
// the measure data only include gnss position
GNSS_POS_ONLY = 0;
//the measure data include gnss position and velocity
// the measure data include gnss position and velocity
GNSS_POS_VEL = 1;
//the measure data include gnss position
// the measure data include gnss position
GNSS_POS_XY = 2;
//the measure data only include gnss velocity
GNSS_VEL_ONLY = 3;
//the measure data only include point cloud position
// the measure data only include gnss velocity
GNSS_VEL_ONLY = 3;
// the measure data only include point cloud position
POINT_CLOUD_POS = 4;
//the measure data only include odometer velocity
// the measure data only include odometer velocity
ODOMETER_VEL_ONLY = 5;
//trigger measure update using vehicle constraint
// trigger measure update using vehicle constraint
VEHICLE_CONSTRAINT = 6;
}
optional MeasureType measure_type = 2;
enum FrameType{
enum FrameType {
// Position give the longitude and latitude unit:rad.
ENU = 0;
// Position give x y and z from earth center.
......
modules/localization/proto/pose.proto
浏览文件 @ 3a4512fd
......@@ -43,7 +43,8 @@ message Pose {
optional apollo.common.Point3D angular_velocity = 5;
// Heading
// The heading is zero when the car is facing East and positive when facing North.
// The heading is zero when the car is facing East and positive when facing
// North.
optional double heading = 6;
// Linear acceleration of the VRP in the vehicle reference frame.
......
modules/map/proto/map.proto
浏览文件 @ 3a4512fd
......@@ -17,7 +17,8 @@ import "modules/map/proto/map_parking_space.proto";
// This message defines how we project the ellipsoidal Earth surface to a plane.
message Projection {
// PROJ.4 setting:
// "+proj=tmerc +lat_0={origin.lat} +lon_0={origin.lon} +k={scale_factor} +ellps=WGS84 +no_defs"
// "+proj=tmerc +lat_0={origin.lat} +lon_0={origin.lon} +k={scale_factor}
// +ellps=WGS84 +no_defs"
optional string proj = 1;
}
......
modules/map/proto/map_geometry.proto
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......@@ -21,7 +21,7 @@ message CurveSegment {
}
optional double s = 6; // start position (s-coordinate)
optional apollo.common.PointENU start_position = 7;
optional double heading = 8; // start orientation
optional double heading = 8; // start orientation
optional double length = 9;
}
......
modules/map/proto/map_lane.proto
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......@@ -37,12 +37,14 @@ message LaneSampleAssociation {
optional double width = 2;
}
// A lane is part of a roadway, that is designated for use by a single line of vehicles.
// A lane is part of a roadway, that is designated for use by a single line of
// vehicles.
// Most public roads (include highways) have more than two lanes.
message Lane {
optional Id id = 1;
// Central lane as reference trajectory, not necessary to be the geometry central.
// Central lane as reference trajectory, not necessary to be the geometry
// central.
optional Curve central_curve = 2;
// Lane boundary curve.
......@@ -103,4 +105,3 @@ message Lane {
repeated LaneSampleAssociation left_road_sample = 20;
repeated LaneSampleAssociation right_road_sample = 21;
}
modules/map/proto/map_overlap.proto
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......@@ -5,8 +5,8 @@ package apollo.hdmap;
import "modules/map/proto/map_id.proto";
message LaneOverlapInfo {
optional double start_s = 1; //position (s-coordinate)
optional double end_s = 2; //position (s-coordinate)
optional double start_s = 1; // position (s-coordinate)
optional double end_s = 2; // position (s-coordinate)
optional bool is_merge = 3;
}
......
modules/map/proto/map_road.proto
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......@@ -32,8 +32,10 @@ message RoadROIBoundary {
repeated RoadBoundary road_boundaries = 2;
}
// road section defines a road cross-section, At least one section must be defined in order to
// use a road, If multiple road sections are defined, they must be listed in order along the road
// road section defines a road cross-section, At least one section must be
// defined in order to
// use a road, If multiple road sections are defined, they must be listed in
// order along the road
message RoadSection {
optional Id id = 1;
// lanes contained in this section
......@@ -42,7 +44,8 @@ message RoadSection {
optional RoadBoundary boundary = 3;
}
// The road is a collection of traffic elements, such as lanes, road boundary etc.
// The road is a collection of traffic elements, such as lanes, road boundary
// etc.
// It provides general information about the road.
message Road {
optional Id id = 1;
......
modules/map/proto/map_speed_bump.proto
浏览文件 @ 3a4512fd
......@@ -6,7 +6,7 @@ import "modules/map/proto/map_id.proto";
import "modules/map/proto/map_geometry.proto";
message SpeedBump {
optional Id id = 1;
repeated Id overlap_id = 2;
repeated Curve position = 3;
optional Id id = 1;
repeated Id overlap_id = 2;
repeated Curve position = 3;
}
modules/map/proto/map_speed_control.proto
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......@@ -15,5 +15,5 @@ message SpeedControl {
}
message SpeedControls {
repeated SpeedControl speed_control = 1;
repeated SpeedControl speed_control = 1;
}
modules/map/proto/map_stop_sign.proto
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......@@ -5,9 +5,9 @@ package apollo.hdmap;
import "modules/map/proto/map_id.proto";
import "modules/map/proto/map_geometry.proto";
// A stop sign is a traffic sign to notify drivers that they must stop before proceeding.
// A stop sign is a traffic sign to notify drivers that they must stop before
// proceeding.
message StopSign {
optional Id id = 1;
repeated Curve stop_line = 2;
......
modules/map/proto/map_yield_sign.proto
浏览文件 @ 3a4512fd
......@@ -5,8 +5,10 @@ package apollo.hdmap;
import "modules/map/proto/map_id.proto";
import "modules/map/proto/map_geometry.proto";
// A yield indicates that each driver must prepare to stop if necessary to let a driver on another approach proceed.
// A driver who stops or slows down to let another vehicle through has yielded the right of way to that vehicle.
// A yield indicates that each driver must prepare to stop if necessary to let a
// driver on another approach proceed.
// A driver who stops or slows down to let another vehicle through has yielded
// the right of way to that vehicle.
message YieldSign {
optional Id id = 1;
......
modules/map/relative_map/proto/navigation.proto
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......@@ -10,7 +10,7 @@ import "modules/perception/proto/perception_obstacle.proto";
message NavigationPath {
optional apollo.common.Path path = 1;
// highest = 0 which can directly reach destination; change lane indicator
// highest = 0 which can directly reach destination; change lane indicator
optional uint32 path_priority = 2;
}
......
modules/map/relative_map/proto/relative_map_config.proto
浏览文件 @ 3a4512fd
......@@ -3,21 +3,22 @@ syntax = "proto2";
package apollo.relative_map;
message MapGenerationParam {
optional double default_left_width = 1 [default=1.75];
optional double default_right_width = 2 [default=1.75];
optional double default_speed_limit = 3 [default=29.0576]; // default is 65mph
optional double default_left_width = 1 [default = 1.75];
optional double default_right_width = 2 [default = 1.75];
optional double default_speed_limit = 3
[default = 29.0576]; // default is 65mph
}
message NavigationLaneConfig {
optional double min_lane_marker_quality = 1 [default=0.5];
enum LaneSource {
PERCEPTION = 1;
OFFLINE_GENERATED = 2;
}
optional LaneSource lane_source = 2;
optional double min_lane_marker_quality = 1 [default = 0.5];
enum LaneSource {
PERCEPTION = 1;
OFFLINE_GENERATED = 2;
}
optional LaneSource lane_source = 2;
}
message RelativeMapConfig {
optional MapGenerationParam map_param = 1;
optional NavigationLaneConfig navigation_lane = 2;
optional MapGenerationParam map_param = 1;
optional NavigationLaneConfig navigation_lane = 2;
}
modules/perception/model/traffic_light/rcg_all/2017-09-15/horizontal/deploy.prototxt
浏览文件 @ 3a4512fd
name: "Net"
layer{
name: "input"
type: "Input"
top: "data_org"
input_param{
name : "Net" layer {
name:
"input" type : "Input" top : "data_org" input_param {
shape {
dim:1
dim:3
dim:32
dim:96
dim:
1 dim : 3 dim : 32 dim : 96
}
}
}
layer {
name: "distort"
type: "ImageDistort"
bottom: "data_org"
top: "data"
image_distort_param {
new_scale: 0.01
new_mean_value: 69.06
new_mean_value: 66.58
new_mean_value: 66.56
name:
"distort" type : "ImageDistort" bottom : "data_org" top
: "data" image_distort_param {
new_scale:
0.01 new_mean_value : 69.06 new_mean_value : 66.58 new_mean_value : 66.56
}
}
layer{
name: "conv1"
type: "Convolution"
bottom: "data"
top: "conv1"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
name:
"conv1" type : "Convolution" bottom : "data" top : "conv1" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
32 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 32
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv1_bn"
bottom: "conv1"
top: "conv1"
batch_norm_param{
use_global_stats: true
}
}
layer {
type: "Scale"
name: "conv1_bn_scale"
bottom: "conv1"
top: "conv1"
scale_param {
axis: 1
num_axes: 1
bias_term: false
}
}
layer{
type: "ReLU"
name: "conv1_relu"
bottom: "conv1"
top: "conv1"
}
layer {
name: "pool1"
type: "Pooling"
bottom: "conv1"
top: "pool1"
pooling_param {
pool: MAX
kernel_w: 3
kernel_h: 3
stride_w: 2
stride_h: 2
cmp_out_shape_floor_as_conv: true
}
}
layer{
name: "conv2"
type: "Convolution"
bottom: "pool1"
top: "conv2"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
type:
"BatchNorm" name : "conv1_bn" bottom : "conv1" top
: "conv1" batch_norm_param {
use_global_stats:
true
}
}
layer {
type:
"Scale" name : "conv1_bn_scale" bottom : "conv1" top : "conv1" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer {
type:
"ReLU" name : "conv1_relu" bottom : "conv1" top : "conv1"
}
layer {
name:
"pool1" type : "Pooling" bottom : "conv1" top : "pool1" pooling_param {
pool:
MAX kernel_w : 3 kernel_h : 3 stride_w : 2 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name:
"conv2" type : "Convolution" bottom : "pool1" top : "conv2" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
64 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 64
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv2_bn"
bottom: "conv2"
top: "conv2"
batch_norm_param{
use_global_stats: true
}
}
layer {
type: "Scale"
name: "conv2_bn_scale"
bottom: "conv2"
top: "conv2"
scale_param {
axis: 1
num_axes: 1
bias_term: false
}
}
layer{
type: "ReLU"
name: "conv2_relu"
bottom: "conv2"
top: "conv2"
}
layer {
name: "pool2"
type: "Pooling"
bottom: "conv2"
top: "pool2"
pooling_param {
pool: MAX
kernel_w: 3
kernel_h: 3
stride_w: 2
stride_h: 2
cmp_out_shape_floor_as_conv: true
}
}
layer{
name: "conv3"
type: "Convolution"
bottom: "pool2"
top: "conv3"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
type:
"BatchNorm" name : "conv2_bn" bottom : "conv2" top
: "conv2" batch_norm_param {
use_global_stats:
true
}
}
layer {
type:
"Scale" name : "conv2_bn_scale" bottom : "conv2" top : "conv2" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer {
type:
"ReLU" name : "conv2_relu" bottom : "conv2" top : "conv2"
}
layer {
name:
"pool2" type : "Pooling" bottom : "conv2" top : "pool2" pooling_param {
pool:
MAX kernel_w : 3 kernel_h : 3 stride_w : 2 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name:
"conv3" type : "Convolution" bottom : "pool2" top : "conv3" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
128 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 128
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv3_bn"
bottom: "conv3"
top: "conv3"
batch_norm_param{
use_global_stats: true
}
}
layer {
type: "Scale"
name: "conv3_bn_scale"
bottom: "conv3"
top: "conv3"
scale_param {
axis: 1
num_axes: 1
bias_term: false
}
}
layer{
type: "ReLU"
name: "conv3_relu"
bottom: "conv3"
top: "conv3"
}
layer {
name: "pool3"
type: "Pooling"
bottom: "conv3"
top: "pool3"
pooling_param {
pool: MAX
kernel_w: 3
kernel_h: 3
stride_w: 2
stride_h: 2
cmp_out_shape_floor_as_conv: true
}
}
layer{
name: "conv4"
type: "Convolution"
bottom: "pool3"
top: "conv4"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
type:
"BatchNorm" name : "conv3_bn" bottom : "conv3" top
: "conv3" batch_norm_param {
use_global_stats:
true
}
}
layer {
type:
"Scale" name : "conv3_bn_scale" bottom : "conv3" top : "conv3" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer {
type:
"ReLU" name : "conv3_relu" bottom : "conv3" top : "conv3"
}
layer {
name:
"pool3" type : "Pooling" bottom : "conv3" top : "pool3" pooling_param {
pool:
MAX kernel_w : 3 kernel_h : 3 stride_w : 2 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name:
"conv4" type : "Convolution" bottom : "pool3" top : "conv4" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
128 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 128
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv4_bn"
bottom: "conv4"
top: "conv4"
batch_norm_param{
use_global_stats: true
}
}
layer {
type: "Scale"
name: "conv4_bn_scale"
bottom: "conv4"
top: "conv4"
scale_param {
axis: 1
num_axes: 1
bias_term: false
}
}
layer{
type: "ReLU"
name: "conv4_relu"
bottom: "conv4"
top: "conv4"
}
layer {
name: "pool4"
type: "Pooling"
bottom: "conv4"
top: "pool4"
pooling_param {
pool: MAX
kernel_w: 3
kernel_h: 3
stride_w: 2
stride_h: 2
cmp_out_shape_floor_as_conv: true
}
}
layer{
name: "conv5"
type: "Convolution"
bottom: "pool4"
top: "conv5"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
type:
"BatchNorm" name : "conv4_bn" bottom : "conv4" top
: "conv4" batch_norm_param {
use_global_stats:
true
}
}
layer {
type:
"Scale" name : "conv4_bn_scale" bottom : "conv4" top : "conv4" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer {
type:
"ReLU" name : "conv4_relu" bottom : "conv4" top : "conv4"
}
layer {
name:
"pool4" type : "Pooling" bottom : "conv4" top : "pool4" pooling_param {
pool:
MAX kernel_w : 3 kernel_h : 3 stride_w : 2 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name:
"conv5" type : "Convolution" bottom : "pool4" top : "conv5" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
128 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 128
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv5_bn"
bottom: "conv5"
top: "conv5"
batch_norm_param{
use_global_stats: true
layer {
type:
"BatchNorm" name : "conv5_bn" bottom : "conv5" top
: "conv5" batch_norm_param {
use_global_stats:
true
}
}
layer {
type: "Scale"
name: "conv5_bn_scale"
bottom: "conv5"
top: "conv5"
scale_param {
axis: 1
num_axes: 1
bias_term: false
type:
"Scale" name : "conv5_bn_scale" bottom : "conv5" top : "conv5" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer{
type: "ReLU"
name: "conv5_relu"
bottom: "conv5"
top: "conv5"
layer {
type:
"ReLU" name : "conv5_relu" bottom : "conv5" top : "conv5"
}
layer {
name: "pool5"
type: "Pooling"
bottom: "conv5"
top: "pool5"
pooling_param {
pool: AVE
kernel_w: 6
kernel_h: 2
stride_w: 6
stride_h: 2
cmp_out_shape_floor_as_conv: true
name:
"pool5" type : "Pooling" bottom : "conv5" top : "pool5" pooling_param {
pool:
AVE kernel_w : 6 kernel_h : 2 stride_w : 6 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name: "ft"
type: "InnerProduct"
bottom: "pool5"
top: "ft"
param {
lr_mult: 1.000000
decay_mult: 1.000000
name:
"ft" type : "InnerProduct" bottom : "pool5" top : "ft" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
lr_mult:
2.000000 decay_mult : 0.000000
}
inner_product_param {
num_output: 128
weight_filler {
type: "msra"
num_output:
128 weight_filler {
type:
"msra"
}
bias_filler {
type: "constant"
value: 0.000000
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "ft_bn"
bottom: "ft"
top: "ft"
batch_norm_param{
use_global_stats: true
layer {
type:
"BatchNorm" name : "ft_bn" bottom : "ft" top : "ft" batch_norm_param {
use_global_stats:
true
}
}
layer {
type: "Scale"
name: "ft_bn_scale"
bottom: "ft"
top: "ft"
scale_param {
axis: 1
num_axes: 1
bias_term: false
type:
"Scale" name : "ft_bn_scale" bottom : "ft" top : "ft" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer{
type: "ReLU"
name: "ft_relu"
bottom: "ft"
top: "ft"
layer {
type:
"ReLU" name : "ft_relu" bottom : "ft" top : "ft"
}
layer {
name: "logits"
type: "InnerProduct"
bottom: "ft"
top: "logits"
param {
lr_mult: 1.000000
decay_mult: 1.000000
name:
"logits" type : "InnerProduct" bottom : "ft" top : "logits" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
lr_mult:
2.000000 decay_mult : 0.000000
}
inner_product_param {
num_output: 4
weight_filler {
type: "msra"
num_output:
4 weight_filler {
type:
"msra"
}
bias_filler {
type: "constant"
value: 0.000000
type:
"constant" value : 0.000000
}
}
}
layer {
name: "prob"
type: "Softmax"
bottom: "logits"
top: "prob"
name:
"prob" type : "Softmax" bottom : "logits" top : "prob"
}
modules/perception/obstacle/camera/detector/common/proto/tracking_feature.proto
浏览文件 @ 3a4512fd
......@@ -3,29 +3,29 @@ syntax = "proto2";
package apollo.perception;
message FeatureParam {
optional int32 feat_stride = 1 [default = 32];
repeated ExtractorParam extractor = 2;
optional string remap_model = 3;
optional int32 feat_stride = 1 [default = 32];
repeated ExtractorParam extractor = 2;
optional string remap_model = 3;
}
message ExtractorParam {
enum FeatureType {
Reorg = 0;
ROIPooling = 1;
}
optional string feat_blob = 1;
optional FeatureType feat_type = 2 [default = Reorg];
optional ROIPoolingParam roi_pooling_param = 3;
optional ReorgParam reorg_param = 4;
enum FeatureType {
Reorg = 0;
ROIPooling = 1;
}
optional string feat_blob = 1;
optional FeatureType feat_type = 2 [default = Reorg];
optional ROIPoolingParam roi_pooling_param = 3;
optional ReorgParam reorg_param = 4;
}
message ROIPoolingParam {
optional int32 pooled_h = 1 [default = 3];
optional int32 pooled_w = 2 [default = 3];
optional bool use_floor = 3 [default = false];
optional int32 pooled_h = 1 [default = 3];
optional int32 pooled_w = 2 [default = 3];
optional bool use_floor = 3 [default = false];
}
message ReorgParam {
optional int32 ref_height = 1 [default = 0];
optional int32 ref_width = 2 [default = 0];
optional int32 ref_height = 1 [default = 0];
optional int32 ref_width = 2 [default = 0];
}
modules/perception/obstacle/camera/detector/yolo_camera_detector/proto/yolo.proto
浏览文件 @ 3a4512fd
......@@ -2,52 +2,49 @@ syntax = "proto2";
package apollo.perception.obstacle.yolo;
enum ModelType{
Caffe = 0;
}
enum ModelType { Caffe = 0; }
message YoloParam {
required ModelParam model_param = 1;
required NetworkParam net_param = 2;
optional NMSParam nms_param = 3;
required ModelParam model_param = 1;
required NetworkParam net_param = 2;
optional NMSParam nms_param = 3;
}
message ModelParam {
required string model_name = 1 [default = "yolo-2d"];
optional string proto_file = 2 [default = "deploy.pt"];
optional string weight_file = 3 [default = "deploy.md"];
optional string anchors_file = 4 [default = "anchors.txt"];
optional string types_file = 5 [default = "types.txt"];
optional string feature_file = 6 [default = "feature.pt"];
optional float offset_ratio = 7 [default = 0.288889];
optional float cropped_ratio = 13 [default = 0.711111];
optional int32 resized_width = 14 [default = 1440];
optional int32 aligned_pixel = 15 [default = 32];
optional float confidence_threshold = 8 [default = 0.1];
optional float min_2d_height = 9 [default = 0.0];
optional float min_3d_height = 10 [default = 0.0];
optional string calibratetable_root = 11 [default = "./"];
optional ModelType model_type = 12 [default = Caffe];
optional int32 ignored_height = 16 [default = 100];
required string model_name = 1 [default = "yolo-2d"];
optional string proto_file = 2 [default = "deploy.pt"];
optional string weight_file = 3 [default = "deploy.md"];
optional string anchors_file = 4 [default = "anchors.txt"];
optional string types_file = 5 [default = "types.txt"];
optional string feature_file = 6 [default = "feature.pt"];
optional float offset_ratio = 7 [default = 0.288889];
optional float cropped_ratio = 13 [default = 0.711111];
optional int32 resized_width = 14 [default = 1440];
optional int32 aligned_pixel = 15 [default = 32];
optional float confidence_threshold = 8 [default = 0.1];
optional float min_2d_height = 9 [default = 0.0];
optional float min_3d_height = 10 [default = 0.0];
optional string calibratetable_root = 11 [default = "./"];
optional ModelType model_type = 12 [default = Caffe];
optional int32 ignored_height = 16 [default = 100];
}
message NetworkParam {
optional string loc_blob = 1 [default = "loc_pred"];
optional string obj_blob = 2 [default = "obj_pred"];
optional string cls_blob = 3 [default = "cls_pred"];
optional string ori_blob = 4 [default = "ori_pred"];
optional string dim_blob = 5 [default = "dim_pred"];
optional string lof_blob = 6 [default = "lof_pred"];
optional string lor_blob = 7 [default = "lor_pred"];
optional string seg_blob = 8 [default = "seg_pred"];
optional string input_blob = 10 [default = "data"];
optional string loc_blob = 1 [default = "loc_pred"];
optional string obj_blob = 2 [default = "obj_pred"];
optional string cls_blob = 3 [default = "cls_pred"];
optional string ori_blob = 4 [default = "ori_pred"];
optional string dim_blob = 5 [default = "dim_pred"];
optional string lof_blob = 6 [default = "lof_pred"];
optional string lor_blob = 7 [default = "lor_pred"];
optional string seg_blob = 8 [default = "seg_pred"];
optional string input_blob = 10 [default = "data"];
}
message NMSParam {
optional string type = 1 [default = "NormalNMS"];
optional float threshold = 2 [default = 0.4];
optional float sigma = 3 [default = 0.4];
optional float inter_cls_nms_thresh = 4 [default = 1.0];
optional float cross_class_merge_thresh = 5 [default = 0.8];
optional string type = 1 [default = "NormalNMS"];
optional float threshold = 2 [default = 0.4];
optional float sigma = 3 [default = 0.4];
optional float inter_cls_nms_thresh = 4 [default = 1.0];
optional float cross_class_merge_thresh = 5 [default = 0.8];
}
modules/perception/obstacle/lidar/segmentation/cnnseg/proto/cnnseg.proto
浏览文件 @ 3a4512fd
......@@ -3,36 +3,36 @@ syntax = "proto2";
package apollo.perception.cnnseg;
message CNNSegParam {
required NetworkParam network_param = 1;
required FeatureParam feature_param = 2;
required NetworkParam network_param = 1;
required FeatureParam feature_param = 2;
optional float objectness_thresh = 11 [default = 0.5];
optional bool use_all_grids_for_clustering = 12 [default = false];
optional float confidence_thresh = 13 [default = 0.1];
optional float height_thresh = 14 [default = 0.5];
optional uint32 min_pts_num = 15 [default = 3];
optional float objectness_thresh = 11 [default = 0.5];
optional bool use_all_grids_for_clustering = 12 [default = false];
optional float confidence_thresh = 13 [default = 0.1];
optional float height_thresh = 14 [default = 0.5];
optional uint32 min_pts_num = 15 [default = 3];
optional bool use_full_cloud = 31 [default = false];
optional bool use_full_cloud = 31 [default = false];
optional uint32 gpu_id = 41 [default = 0];
optional float filter_thresh = 42 [default = 5];
optional float enable_filter_thresh = 43 [default = 700];
optional uint32 gpu_id = 41 [default = 0];
optional float filter_thresh = 42 [default = 5];
optional float enable_filter_thresh = 43 [default = 700];
}
message NetworkParam {
optional string instance_pt_blob = 1 [default = "instance_pt"];
optional string category_pt_blob = 2 [default = "category_score"];
optional string confidence_pt_blob = 3 [default = "confidence_score"];
optional string height_pt_blob = 4 [default = "height_pt"];
optional string feature_blob = 5 [default = "data"];
optional string class_pt_blob = 6 [default = "class_score"];
optional string instance_pt_blob = 1 [default = "instance_pt"];
optional string category_pt_blob = 2 [default = "category_score"];
optional string confidence_pt_blob = 3 [default = "confidence_score"];
optional string height_pt_blob = 4 [default = "height_pt"];
optional string feature_blob = 5 [default = "data"];
optional string class_pt_blob = 6 [default = "class_score"];
}
message FeatureParam {
optional uint32 point_cloud_range = 26 [default = 60];
optional uint32 width = 27 [default = 640];
optional uint32 height = 28 [default = 640];
optional uint32 point_cloud_range = 26 [default = 60];
optional uint32 width = 27 [default = 640];
optional uint32 height = 28 [default = 640];
optional float min_height = 31 [default = -5.0];
optional float max_height = 32 [default = 5.0];
optional float min_height = 31 [default = -5.0];
optional float max_height = 32 [default = 5.0];
}
modules/perception/onboard/proto/dag_config.proto
浏览文件 @ 3a4512fd
......@@ -3,51 +3,51 @@ syntax = "proto2";
package apollo.perception;
message DAGConfig {
enum SubnodeType {
SUBNODE_IN = 1;
SUBNODE_OUT = 2;
SUBNODE_NORMAL = 3;
};
// Subnode instance.
message Subnode {
required int32 id = 1;
required string name = 2;
// node private data.
optional string reserve = 3;
optional SubnodeType type = 4 [default = SUBNODE_NORMAL];
};
message SubnodeConfig {
repeated Subnode subnodes = 1;
};
message Event {
required int32 id = 1;
optional string name = 2;
};
message Edge {
required int32 id = 1;
required int32 from_node = 2;
required int32 to_node = 3;
repeated Event events = 4;
};
message EdgeConfig {
repeated Edge edges = 1;
}
message SharedData {
required int32 id = 1;
required string name = 2;
};
message SharedDataConfig {
repeated SharedData datas = 1;
}
required SubnodeConfig subnode_config = 1;
required EdgeConfig edge_config = 2;
required SharedDataConfig data_config = 3;
enum SubnodeType {
SUBNODE_IN = 1;
SUBNODE_OUT = 2;
SUBNODE_NORMAL = 3;
};
// Subnode instance.
message Subnode {
required int32 id = 1;
required string name = 2;
// node private data.
optional string reserve = 3;
optional SubnodeType type = 4 [default = SUBNODE_NORMAL];
};
message SubnodeConfig {
repeated Subnode subnodes = 1;
};
message Event {
required int32 id = 1;
optional string name = 2;
};
message Edge {
required int32 id = 1;
required int32 from_node = 2;
required int32 to_node = 3;
repeated Event events = 4;
};
message EdgeConfig {
repeated Edge edges = 1;
}
message SharedData {
required int32 id = 1;
required string name = 2;
};
message SharedDataConfig {
repeated SharedData datas = 1;
}
required SubnodeConfig subnode_config = 1;
required EdgeConfig edge_config = 2;
required SharedDataConfig data_config = 3;
};
modules/perception/proto/async_fusion_config.proto
浏览文件 @ 3a4512fd
......@@ -3,18 +3,18 @@ syntax = "proto2";
package apollo.perception.async_fusion_config;
message ModelConfigs {
optional string name = 1 [ default = "AsyncFusion" ];
optional string version = 2 [ default = "1.0.0" ];
optional string match_method = 3 [ default = "hm_matcher" ];
optional float max_match_distance = 4 [ default = 4.0 ];
optional float max_lidar_invisible_period = 5 [ default = 0.25 ];
optional float max_radar_invisible_period = 6 [ default = 0.25 ];
optional float max_radar_confident_angle = 7 [ default = 30.0 ];
optional float min_radar_confident_distance = 8 [ default = 40.0 ];
optional bool publish_if_has_lidar = 9 [ default = true ];
optional bool publish_if_has_radar = 10 [ default = true ];
optional string name = 1 [default = "AsyncFusion"];
optional string version = 2 [default = "1.0.0"];
optional string match_method = 3 [default = "hm_matcher"];
optional float max_match_distance = 4 [default = 4.0];
optional float max_lidar_invisible_period = 5 [default = 0.25];
optional float max_radar_invisible_period = 6 [default = 0.25];
optional float max_radar_confident_angle = 7 [default = 30.0];
optional float min_radar_confident_distance = 8 [default = 40.0];
optional bool publish_if_has_lidar = 9 [default = true];
optional bool publish_if_has_radar = 10 [default = true];
// candidate values: "velodyne_64", "radar", "camera_front_short"
optional string publish_sensor = 11 [ default = "velodyne_64" ];
optional bool use_radar = 12 [ default = true ];
optional bool use_lidar = 13 [ default = true ];
optional string publish_sensor = 11 [default = "velodyne_64"];
optional bool use_radar = 12 [default = true];
optional bool use_lidar = 13 [default = true];
}
modules/perception/proto/cnn_segmentation_config.proto
浏览文件 @ 3a4512fd
......@@ -3,9 +3,12 @@ syntax = "proto2";
package apollo.perception.cnn_segmentation_config;
message ModelConfigs {
optional string name = 1 [ default = "CNNSegmentation" ];
optional string version = 2 [ default = "1.0.0" ];
optional string config_file = 3 [ default = "modules/perception/model/cnn_segmentation/cnnseg.conf" ];
optional string proto_file = 4 [ default = "modules/perception/model/cnn_segmentation/deploy.prototxt" ];
optional string weight_file = 5 [ default = "modules/perception/model/cnn_segmentation/deploy.caffemodel" ];
optional string name = 1 [default = "CNNSegmentation"];
optional string version = 2 [default = "1.0.0"];
optional string config_file = 3
[default = "modules/perception/model/cnn_segmentation/cnnseg.conf"];
optional string proto_file = 4
[default = "modules/perception/model/cnn_segmentation/deploy.prototxt"];
optional string weight_file = 5
[default = "modules/perception/model/cnn_segmentation/deploy.caffemodel"];
}
modules/perception/proto/geometry_camera_converter_config.proto
浏览文件 @ 3a4512fd
......@@ -3,7 +3,8 @@ syntax = "proto2";
package apollo.perception.geometry_camera_converter_config;
message ModelConfigs {
optional string name = 1 [ default = "GeometryCameraConverter" ];
optional string version = 2 [ default = "1.0.0" ];
optional string camera_intrinsic_file = 3 [ default = "modules/perception/data/params/front_camera_intrinsics.yaml" ];
optional string name = 1 [default = "GeometryCameraConverter"];
optional string version = 2 [default = "1.0.0"];
optional string camera_intrinsic_file = 3
[default = "modules/perception/data/params/front_camera_intrinsics.yaml"];
}
modules/perception/proto/hdmap_roi_filter_config.proto
浏览文件 @ 3a4512fd
......@@ -4,22 +4,23 @@ package apollo.perception.hdmap_roi_filter_config;
// hdmap ROI filter model
message ModelConfigs {
optional string name = 1 [ default = "HdmapROIFilter" ];
optional string version = 2 [ default = "1.0.0" ];
optional string name = 1 [default = "HdmapROIFilter"];
optional string version = 2 [default = "1.0.0"];
// @name: range
// @brief: create a bitmap mask which represents [-range, range]*[-range, range]
// @brief: create a bitmap mask which represents [-range, range]*[-range,
// range]
// square area around the car.
// @required: range > 0.0 && range - (-range) > cell_size
optional double range = 3 [ default = 70.0 ];
optional double range = 3 [default = 70.0];
// @name: cell_size
// @brief: discretize the area using small cells.
// @required: cell_size > 0.0
optional double cell_size = 4 [ default = 0.25 ];
optional double cell_size = 4 [default = 0.25];
// @name: extend_dist
// @brief: extend the intervals returned by polygon scans conversion algorithm
// @required: none
optional double extend_dist = 5 [ default = 0.0 ];
optional double extend_dist = 5 [default = 0.0];
}
modules/perception/proto/lane_post_process_config.proto
浏览文件 @ 3a4512fd
......@@ -11,46 +11,47 @@ message ModelConfigs {
repeated float roi = 6;
optional bool use_non_mask = 7;
repeated float non_mask = 8;
optional float lane_map_confidence_thresh = 9 [ default = 0.95];
optional float cc_split_siz = 10 [ default = 50.0];
optional int32 cc_split_len = 11 [ default = 25 ];
optional int32 min_cc_pixel_num = 12 [ default = 10 ];
optional int32 min_cc_size = 13 [ default = 5 ];
optional float min_y_search_offset = 14 [ default = 0.5 ];
optional float min_y_search_offset_image = 15 [ default = 0.5 ];
optional float lane_map_confidence_thresh = 9 [default = 0.95];
optional float cc_split_siz = 10 [default = 50.0];
optional int32 cc_split_len = 11 [default = 25];
optional int32 min_cc_pixel_num = 12 [default = 10];
optional int32 min_cc_size = 13 [default = 5];
optional float min_y_search_offset = 14 [default = 0.5];
optional float min_y_search_offset_image = 15 [default = 0.5];
optional string assoc_method = 16;
optional float assoc_min_distance = 17 [ default = -0.5 ];
optional float assoc_min_distance_image = 18 [ default = -3.0 ];
optional float assoc_max_distance = 19 [ default = 60.0 ];
optional float assoc_max_distance_image = 20 [ default = 400.0 ];
optional float assoc_distance_weight = 21 [ default = 0.4 ];
optional float assoc_max_deviation_angle = 22 [ default = 15.0 ];
optional float assoc_max_deviation_angle_image = 23 [ default = 45.0 ];
optional float assoc_deviation_angle_weight = 24 [ default = 0.2 ];
optional float assoc_max_departure_distance = 25 [ default = 3.0 ];
optional float assoc_max_departure_distance_image = 26 [ default = 80.0 ];
optional float assoc_departure_distance_weight = 27 [ default = 0.2 ];
optional float assoc_max_relative_orie = 28 [ default = 15.0 ];
optional float assoc_max_relative_orie_image = 29 [ default = 45.0 ];
optional float assoc_relative_orie_weight = 30 [ default = 0.2 ];
optional float assoc_min_orientation_estimation_size = 31 [ default = 3.0 ];
optional float assoc_min_orientation_estimation_size_image = 32 [ default = 10.0 ];
optional int32 max_cc_marker_match_num = 33 [ default = 1 ];
optional float slide_window_size = 34 [ default = 15.0 ];
optional float slide_window_size_image = 35 [ default = 200.0 ];
optional int32 slide_window_max_point_num = 36 [ default = 3 ];
optional int32 max_group_prediction_marker_num = 37 [ default = 3 ];
optional int32 orientation_estimation_skip_marker_num = 38 [ default = 1 ];
optional float lane_interval_distance = 39 [ default = 4.0 ];
optional float min_instance_size_prefiltered = 40 [ default = 3.0 ];
optional float min_instance_size_prefiltered_image = 41 [ default = 20.0 ];
optional float max_size_to_fit_straight_line = 42 [ default = 10.0 ];
optional float max_size_to_fit_straight_line_image = 43 [ default = 300.0 ];
optional float online_pitch_angle = 44 [ default = -2.5 ];
optional float ground_height = 45 [ default = 1.6 ];
optional float max_distance_to_see_for_transformer = 46 [ default = 500.0 ];
optional float lane_map_scale = 47 [ default = 2.0];
optional int32 start_y_pos = 48 [ default = 312];
optional int32 lane_map_width = 49 [ default = 960];
optional int32 lane_map_height = 50 [ default = 384];
optional float assoc_min_distance = 17 [default = -0.5];
optional float assoc_min_distance_image = 18 [default = -3.0];
optional float assoc_max_distance = 19 [default = 60.0];
optional float assoc_max_distance_image = 20 [default = 400.0];
optional float assoc_distance_weight = 21 [default = 0.4];
optional float assoc_max_deviation_angle = 22 [default = 15.0];
optional float assoc_max_deviation_angle_image = 23 [default = 45.0];
optional float assoc_deviation_angle_weight = 24 [default = 0.2];
optional float assoc_max_departure_distance = 25 [default = 3.0];
optional float assoc_max_departure_distance_image = 26 [default = 80.0];
optional float assoc_departure_distance_weight = 27 [default = 0.2];
optional float assoc_max_relative_orie = 28 [default = 15.0];
optional float assoc_max_relative_orie_image = 29 [default = 45.0];
optional float assoc_relative_orie_weight = 30 [default = 0.2];
optional float assoc_min_orientation_estimation_size = 31 [default = 3.0];
optional float assoc_min_orientation_estimation_size_image = 32
[default = 10.0];
optional int32 max_cc_marker_match_num = 33 [default = 1];
optional float slide_window_size = 34 [default = 15.0];
optional float slide_window_size_image = 35 [default = 200.0];
optional int32 slide_window_max_point_num = 36 [default = 3];
optional int32 max_group_prediction_marker_num = 37 [default = 3];
optional int32 orientation_estimation_skip_marker_num = 38 [default = 1];
optional float lane_interval_distance = 39 [default = 4.0];
optional float min_instance_size_prefiltered = 40 [default = 3.0];
optional float min_instance_size_prefiltered_image = 41 [default = 20.0];
optional float max_size_to_fit_straight_line = 42 [default = 10.0];
optional float max_size_to_fit_straight_line_image = 43 [default = 300.0];
optional float online_pitch_angle = 44 [default = -2.5];
optional float ground_height = 45 [default = 1.6];
optional float max_distance_to_see_for_transformer = 46 [default = 500.0];
optional float lane_map_scale = 47 [default = 2.0];
optional int32 start_y_pos = 48 [default = 312];
optional int32 lane_map_width = 49 [default = 960];
optional int32 lane_map_height = 50 [default = 384];
}
modules/perception/proto/low_object_filter_config.proto
浏览文件 @ 3a4512fd
......@@ -3,8 +3,8 @@ syntax = "proto2";
package apollo.perception.low_object_filter_config;
message ModelConfigs {
optional string name = 1 [ default = "LowObjectFilter" ];
optional string version = 2 [ default = "1.0.0" ];
optional double object_height_threshold = 3 [ default = 0.10 ];
optional double object_position_height_threshold = 4 [ default = -1.6 ];
optional string name = 1 [default = "LowObjectFilter"];
optional string version = 2 [default = "1.0.0"];
optional double object_height_threshold = 3 [default = 0.10];
optional double object_position_height_threshold = 4 [default = -1.6];
}
modules/perception/proto/perception_map_roi.proto
浏览文件 @ 3a4512fd
......@@ -9,7 +9,7 @@ import "modules/map/proto/map.proto";
// Will be deprecated once the HOI map is ready.
// Next id: 9
message PerceptionMapROI {
optional apollo.common.Header header = 1; // Header.
optional apollo.common.Header header = 1; // Header.
optional apollo.hdmap.Header hdmap_header = 8; // HDMap header.
// Minimum x and y values in the map.
......@@ -17,8 +17,8 @@ message PerceptionMapROI {
optional double origin_y = 3;
// Partition the map into cells of grid.
optional double grid_size = 4; // in meters.
optional int32 num_rows = 5; // respect to x.
optional double grid_size = 4; // in meters.
optional int32 num_rows = 5; // respect to x.
optional int32 num_columns = 6; // respect to y.
// ROI regions on the grid.
......
modules/perception/proto/perception_ultrasonic.proto
浏览文件 @ 3a4512fd
......@@ -6,13 +6,13 @@ import "modules/common/proto/header.proto";
import "modules/common/proto/geometry.proto";
message ImpendingCollisionEdge {
optional int32 id = 1; // edge ID.
repeated int32 cone_id_list = 2; // cone ID.
repeated apollo.common.Point3D point = 3;
optional double tracking_time = 4; // tracking time since detected in s
optional int32 id = 1; // edge ID.
repeated int32 cone_id_list = 2; // cone ID.
repeated apollo.common.Point3D point = 3;
optional double tracking_time = 4; // tracking time since detected in s
}
message ImpendingCollisionEdges {
repeated ImpendingCollisionEdge impending_collision_edge = 1; // obstacles
optional apollo.common.Header header = 2; // Header
repeated ImpendingCollisionEdge impending_collision_edge = 1; // obstacles
optional apollo.common.Header header = 2; // Header
}
modules/routing/proto/routing.proto
浏览文件 @ 3a4512fd
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