package apollo.v2x

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View/edit binary Protocol Buffers messages

• rpc PushCarStatus (CarStatus, UpdateStatus)

  v2x_service_car_to_obu.proto:9

  message CarStatus

  v2x_carstatus.proto:8

  • optional localization.LocalizationEstimate localization = 1

  • optional canbus.ChassisDetail chassis_detail = 2

• rpc PushPerceptionResult (perception.PerceptionObstacles, UpdateStatus)

  v2x_service_car_to_obu.proto:10

• rpc SendPerceptionObstacles (perception.PerceptionObstacles, StatusResponse)

  v2x_service_obu_to_car.proto:11

  for onboard unit send perception obstacles (from rsu) results to car end

• rpc SendPerceptionTrafficLight (perception.TrafficLightDetection, StatusResponse)

  v2x_service_obu_to_car.proto:13

  for onboard unit send perception trafficlights (from rsu) results to car end

• rpc SendV2xTrafficLight (IntersectionTrafficLightData, StatusResponse)

  v2x_service_obu_to_car.proto:15

  for onboard unit send v2x trafficlights (from rsu) results to car end

  message IntersectionTrafficLightData

  v2x_traffic_light.proto:37

  • optional common.Header header = 1

  • optional CurrentLaneTrafficLight current_lane_trafficlight = 2

  • optional int32 intersection_id = 3

Used in: Lane

• optional Connection.Type allow_driving_behavior = 1

• optional int32 phase_id = 2

Used in: Connection

• STRAIGHT = 0

• LEFT = 1

• RIGHT = 2

• U_TURN = 3

Used in: IntersectionTrafficLightData

• optional double gps_x_m = 1

  Feature points of lane in the map reference frame.

• optional double gps_y_m = 2

• repeated SingleTrafficLight single_traffic_light = 3

Used in: Map

• optional int32 id = 1

• optional Position2D position = 2

• repeated Road roads = 3

Used in: Spat

• optional int32 intersection_id = 1

• repeated Phase Phases = 2

• optional int32 moy = 3

• optional int32 time_stamp_dsecond = 4

Used in: Road

• optional int32 lane_id = 1

• repeated Position2D position_offset = 2

• repeated Connection connections = 3

Used in: PolicyData

• optional double time_stamp = 1

• optional int32 msg_cnt = 2

• repeated Intersection intersections = 3

Used in: IntersectionState

• optional int32 id = 1

• optional Phase.Color color = 2

• optional int32 color_remaining_time_s = 3

Used in: Phase

• UNKNOWN = 0

• RED = 1

• YELLOW = 2

• GREEN = 3

• BLACK = 4

• FLASH_GREEN = 5

• optional Map map = 1

• optional Spat spat = 2

Used in: Intersection, Lane, Road

• optional double x = 1

• optional double y = 2

Used in: Intersection

• optional int32 upstream_node_id = 1

• optional Position2D points = 2

• repeated Lane lanes = 3

Used in: CurrentLaneTrafficLight

• optional SingleTrafficLight.Color color = 1

• repeated SingleTrafficLight.Type trafficlight_type = 2

• optional string id = 3

  Traffic light string-ID in the map data.

• optional int32 color_remaining_time_s = 4

• optional bool right_turn_light = 5

Used in: SingleTrafficLight

• UNKNOWN = 0

• RED = 1

• YELLOW = 2

• GREEN = 3

• BLACK = 4

• FLASH_GREEN = 5

Used in: SingleTrafficLight

• STRAIGHT = 0

• LEFT = 1

• RIGHT = 2

• U_TURN = 3

Used in: PolicyData

• optional double time_stamp = 1

• optional int32 msg_cnt = 2

• repeated IntersectionState intersections = 3

The response message containing the status.

Used as response type in: ObuToCar.SendPerceptionObstacles, ObuToCar.SendPerceptionTrafficLight, ObuToCar.SendV2xTrafficLight

• required bool status = 1

• optional string info = 2

• optional int64 error_code = 3

Used as response type in: CarToObu.PushCarStatus, CarToObu.PushPerceptionResult

• required bool updated = 1