package apollo.dreamview

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: PreprocessTable

• optional Translation translation = 1

• repeated float D = 2

• repeated float K = 3

• repeated double localization = 1

  The transformation matrix of localization in world coordinate system are stored in the double array in column-major order

• repeated double localization2camera_tf = 2

  The transformation matrix of localization to camera are stored in the double array in column-major order

• optional bytes image = 3

  Camera image data

• optional double image_aspect_ratio = 4

  Camera image aspect ratio = width / height

Used in: Chart

• optional string label = 1

• optional bool hide_label_in_legend = 2

• optional double x = 3

• optional double y = 4

• optional double heading = 5

• optional string color = 6

For ChannelMonitor.

Used in: MonitoredComponent

• optional string name = 1

• optional double delay_fatal = 2

  In seconds.

• repeated string mandatory_fields = 3

  The fields will be checked to make sure they are existing Specify in the format of "a.b.c"

• optional double min_frequency_allowed = 4

  Minimum and maximum frequency allowed for this channel

• optional double max_frequency_allowed = 5

Used in: planning_internal.PlanningData

• optional string title = 1

• optional Options options = 2

• repeated Line line = 3

  data sets

• repeated Polygon polygon = 4

• repeated Car car = 5

Used in: Criterion

• EQUAL = 0

• NOT_EQUAL = 1

• GREATER_THAN = 2

• GREATER_THAN_OR_EQUAL = 3

• LESS_THAN = 4

• LESS_THAN_OR_EQUAL = 5

Used in: SimulationWorld

• optional double timestamp_sec = 1

• optional double station_error = 2

• optional double lateral_error = 3

• optional double heading_error = 4

• optional common.TrajectoryPoint current_target_point = 5

Used in: Range

• optional string field = 1

• optional ComparisonOperator comparison_operator = 2

• optional float value = 3

  target value: can be either a hard-coded value or a vehicle config

• optional string vehicle_config = 4

A CyberModule will be translated to a regular Module upon loading.

Used in: HMIMode

• repeated string dag_files = 1

• optional bool required_for_safety = 2

• optional string process_group = 3

• map<string, Scenario> scenario = 1

• required uint32 frame_threshold = 2

  For each category, this is the amount of consecutive frames needed to start incrementing the count

• required uint32 total_frames = 3

  Total number of frames that each category wants to collect

Next-id: 13

Used in: Object

• optional Decision.Type type = 1

• repeated PolygonPoint polygon_point = 2

  Shape Info Can be used for corners of nudge region

• optional double heading = 3

  Position Info Can be used for stop fence

• optional double latitude = 4

• optional double longitude = 5

• optional double position_x = 6

• optional double position_y = 7

• optional double length = 8

• optional double width = 9

• optional double height = 10

• optional Decision.StopReasonCode stopReason = 11

• optional routing.ChangeLaneType change_lane_type = 12

Used in: Decision

• STOP_REASON_HEAD_VEHICLE = 1

• STOP_REASON_DESTINATION = 2

• STOP_REASON_PEDESTRIAN = 3

• STOP_REASON_OBSTACLE = 4

• STOP_REASON_SIGNAL = 100

• STOP_REASON_STOP_SIGN = 101

• STOP_REASON_YIELD_SIGN = 102

• STOP_REASON_CLEAR_ZONE = 103

• STOP_REASON_CROSSWALK = 104

• STOP_REASON_EMERGENCY = 105

• STOP_REASON_NOT_READY = 106

• STOP_REASON_PULL_OVER = 107

Used in: Decision

• 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

Used in: SimulationWorld

• optional double chassis = 1

• optional double localization = 3

• optional double perception_obstacle = 4

• optional double planning = 5

• optional double prediction = 7

• optional double traffic_light = 8

• optional double control = 9

Used in: Scenario

• optional string name = 1

• repeated Range range = 2

• NONE = 0

  Simple HMI action without any parameter.

• SETUP_MODE = 1

  Setup current mode.

• RESET_MODE = 2

  Reset current mode.

• ENTER_AUTO_MODE = 3

  Enter into auto driving mode.

• DISENGAGE = 4

  Disengage from auto driving mode.

• CHANGE_MODE = 5

  HMI action with a value string parameter.

  value = mode_name

• CHANGE_MAP = 6

  value = map_name

• CHANGE_VEHICLE = 7

  value = vehicle_name

• START_MODULE = 8

  value = module_name

• STOP_MODULE = 9

  value = module_name

• map<string, string> modes = 1

  {mode_name: mode_path}

• map<string, string> maps = 2

  {map_name: map_path}

• map<string, string> vehicles = 3

  {vehicle_name: vehicle_path}

• map<string, CyberModule> cyber_modules = 1

• map<string, Module> modules = 2

• map<string, MonitoredComponent> monitored_components = 3

• map<string, ProcessMonitorConfig> other_components = 4

• optional common.Header header = 1

• repeated string modes = 2

• optional string current_mode = 3

• repeated string maps = 4

• optional string current_map = 5

• repeated string vehicles = 6

• optional string current_vehicle = 7

• map<string, bool> modules = 8

  {module_name: is_running_or_not}

• map<string, monitor.ComponentStatus> monitored_components = 9

  {component_name: status}

• optional string docker_image = 10

• optional int32 utm_zone_id = 11

  FLAGS_local_utm_zone_id

• optional string passenger_msg = 12

  Message which will be read aloud to drivers and passengers through Dreamview.

• map<string, monitor.ComponentStatus> other_components = 13

  {component_name: status}

Used in: SimulationWorld

• optional double timestamp_sec = 1

• optional double total_time_ms = 2

Used in: PreprocessTable

• optional string sensor_name = 1

• optional Translation translation = 2

Used in: Chart

• optional string label = 1

• optional bool hide_label_in_legend = 2

• repeated common.Point2D point = 3

• map<string, string> properties = 4

  If the 'color' property is undefined, a random one will be assigned. See http://www.chartjs.org/docs/latest/charts/line.html for all supported properties from chart.js

Used in: SimulationWorld

• repeated string lane = 1

• repeated string crosswalk = 2

• repeated string junction = 3

• repeated string signal = 4

• repeated string stop_sign = 5

• repeated string yield = 6

• repeated string overlap = 7

• repeated string road = 8

• repeated string clear_area = 9

• repeated string parking_space = 10

• repeated string speed_bump = 11

• repeated string pnc_junction = 12

A module which can be started and stopped by HMI.

Used in: HMIMode

• optional string start_command = 1

• optional string stop_command = 2

• optional ProcessMonitorConfig process_monitor_config = 3

  We use the config in ProcessMonitor to check if the module is running.

• optional bool required_for_safety = 4

  Whether to trigger safe-mode if the module is down.

For ModuleMonitor

Used in: MonitoredComponent

• repeated string node_name = 1

A monitored component will be listed on HMI which only shows its status but user cannot operate. The whole config will generate SystemStatus.components[i].summary by Monitor module, which is generally the most severe one of process, channel or resource status.

Used in: HMIMode

• optional ProcessMonitorConfig process = 1

  Generate SystemStatus.components[i].process_status. OK if the process is running. FATAL if the process is down.

• optional ChannelMonitorConfig channel = 2

  Generate SystemStatus.components[i].channel_status. OK if delay is not notable. FATAL if delay is larger than fatal_delay.

• optional ResourceMonitorConfig resource = 3

  Generate SystemStatus.components[i].resource_status. OK if all requirements are met. WARN/ERROR/FATAL if any requirement is below expectation.

• optional bool required_for_safety = 4

  Whether to trigger safe-mode if the component is down.

• optional ModuleMonitorConfig module = 5

  Generate SystemStatus.components[i].module_status. OK if the module is running. FATAL if the module is down.

Used in: SimulationWorld

• optional double timestamp_sec = 1

• optional common.monitor.MonitorMessageItem item = 2

Next-id: 41

Used in: SensorMeasurements, SimulationWorld

• optional string id = 1

  ID

  primary identifier for each object

• repeated PolygonPoint polygon_point = 2

  Shape Info

  corners of an object

• optional double heading = 3

  Position Info

• optional double latitude = 4

• optional double longitude = 5

• optional double position_x = 6

• optional double position_y = 7

• optional double length = 8

• optional double width = 9

• optional double height = 10

• optional double speed = 11

  Motion Info For objects with motion info such as ADC.

  in m/s, can be negative

• optional double speed_acceleration = 12

  in m/s^2

• optional double speed_jerk = 13

• optional double spin = 14

• optional double spin_acceleration = 15

• optional double spin_jerk = 16

• optional double speed_heading = 17

• optional double kappa = 18

• optional double dkappa = 35

• repeated string signal_set = 19

  Signal Info For objects with signals set and current signal such as Traffic Light, Stop Sign, and Vehicle Signal.

• optional string current_signal = 20

• optional double timestamp_sec = 21

  Time Info

• repeated Decision decision = 22

  Decision Info

• optional bool yielded_obstacle = 32

• optional double throttle_percentage = 23

  Chassis Info For ADC

• optional double brake_percentage = 24

• optional double steering_percentage = 25

• optional double steering_angle = 26

• optional double steering_ratio = 27

• optional int32 battery_percentage = 38

• optional canbus.Chassis.GearPosition gear_location = 39

• optional Object.DisengageType disengage_type = 28

• optional Object.Type type = 29

  obstacle type

• optional perception.PerceptionObstacle.SubType sub_type = 34

  obstacle sub-type

• repeated Prediction prediction = 30

• optional double confidence = 31

  perception confidence level. Range: [0,1]

• optional prediction.ObstaclePriority obstacle_priority = 33

• optional prediction.ObstacleInteractiveTag interactive_tag = 40

• optional perception.PerceptionObstacle.Source source = 36

  v2x for perception obstacle

  source type

• optional perception.V2XInformation v2x_info = 37

  v2x use case info

Used in: Object

• DISENGAGE_NONE = 0

• DISENGAGE_UNKNOWN = 1

• DISENGAGE_MANUAL = 2

• DISENGAGE_EMERGENCY = 3

• DISENGAGE_AUTO_STEER_ONLY = 4

• DISENGAGE_AUTO_SPEED_ONLY = 5

• DISENGAGE_CHASSIS_ERROR = 6

Used in: Object

• UNKNOWN = 0

• 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.

Used in: Chart

• optional bool legend_display = 1

• optional Options.Axis x = 2

• optional Options.Axis y = 3

• optional double aspect_ratio = 4

  This is the aspect ratio (width/height) of the entire chart.

• optional bool sync_xy_window_size = 5

  Same window size for x-Axis and y-Axis. It is effective only if x/y window_size is NOT set.

Used in: Options

• optional double min = 1

• optional double max = 2

• optional string label_string = 3

• optional double window_size = 4

  size of the axis of your graph which is then divided into measuring grades

• optional double step_size = 5

  size of the smaller measuring grades in the axis found between two larger measuring grades

• optional double mid_value = 6

  midpoint taken within the dataset. If it is not specified, we will calculate it for you.

• repeated float num = 1

Used in: Chart

• optional string label = 1

• optional bool hide_label_in_legend = 2

• repeated common.Point2D point = 3

• map<string, string> properties = 4

  If the 'color' property is undefined, a random one will be assigned. See http://www.chartjs.org/docs/latest/charts/line.html for all supported properties from chart.js

Next-id: 4

Used in: Decision, Object, Prediction, RoutePath

• optional double x = 1

• optional double y = 2

• optional double z = 3

• optional common.GaussianInfo gaussian_info = 4

  Gaussian probability information

Next-id: 3

Used in: Object

• optional double probability = 1

• repeated PolygonPoint predicted_trajectory = 2

• repeated LidarConfig lidar_config = 1

• optional CameraConfig camera_config = 2

• optional string main_sensor = 3

• optional Progress progress = 4

For ProcessMonitor.

Used in: HMIMode, Module, MonitoredComponent

• repeated string command_keywords = 1

Used in: PreprocessTable

• optional float percentage = 1

• optional string log_string = 2

• optional Status status = 3

Used in: Feature

• optional string name = 1

• repeated Criterion criterion = 2

For ResourceMonitor.

Used in: MonitoredComponent

• repeated ResourceMonitorConfig.DiskSpace disk_spaces = 1

• repeated ResourceMonitorConfig.CPUUsage cpu_usages = 2

• repeated ResourceMonitorConfig.MemoryUsage memory_usages = 3

• repeated ResourceMonitorConfig.DiskLoad disk_load_usages = 4

Used in: ResourceMonitorConfig

• optional float high_cpu_usage_warning = 1

• optional float high_cpu_usage_error = 2

• optional string process_dag_path = 3

  The process's dag path, if not set it will check the system's overall CPU usage

Used in: ResourceMonitorConfig

• optional int32 high_disk_load_warning = 1

• optional int32 high_disk_load_error = 2

• optional string device_name = 3

  Disk device name, such as sda, sdb and etc

Used in: ResourceMonitorConfig

• optional string path = 1

  Path to monitor space. Support wildcards like ? and *. If the path does't exist, raise UNKNWON which will be ignored.

• optional int32 insufficient_space_warning = 2

  In GB.

• optional int32 insufficient_space_error = 3

Used in: ResourceMonitorConfig

• optional int32 high_memory_usage_warning = 1

• optional int32 high_memory_usage_error = 2

• optional string process_dag_path = 3

  The process's dag path, if not set it will check the system's overall memory usage

Used in: SimulationWorld

• repeated PolygonPoint point = 1

Used in: DataCollectionTable

• repeated Feature feature = 1

Used in: SimulationWorld

• repeated Object sensor_measurement = 1

Next-id: 31

• optional double timestamp = 1

  Timestamp in milliseconds

• optional uint32 sequence_num = 2

  Sequence number

• repeated Object object = 3

  Objects in the world and the associated predictions/decisions

• optional Object auto_driving_car = 4

  Autonomous driving cars

• optional Object traffic_signal = 5

  Planning signal

• repeated RoutePath route_path = 6

  Routing paths

• optional double routing_time = 7

  Timestamp of latest routing

• repeated Object planning_trajectory = 8

  Planned trajectory

• optional Object main_stop = 9

  Main decision

• optional Object main_decision = 10

• optional double speed_limit = 11

  Speed limit

• optional DelaysInMs delay = 12

  Module delays

• optional common.monitor.MonitorMessage monitor = 13

  Notification

• repeated Notification notification = 14

• optional string engage_advice = 15

  Engage advice from planning

• map<string, Latency> latency = 16

  Module latency

• optional MapElementIds map_element_ids = 17

• optional uint64 map_hash = 18

• optional double map_radius = 19

• optional planning_internal.PlanningData planning_data = 20

  Planning data

• optional Object gps = 21

  GPS

• optional perception.LaneMarkers lane_marker = 22

  Lane Markers from perception

• optional ControlData control_data = 23

  Control data

• repeated common.Path navigation_path = 24

  Relative Map

• optional bool is_rss_safe = 25

  RSS info

• optional Object shadow_localization = 26

  Shadow localization

• repeated Object perceived_signal = 27

  Perception detected signals

• map<string, bool> stories = 28

  A map from a story name to whether it is on

• map<string, SensorMeasurements> sensor_measurements = 29

  A map from a sensor_id to a group of sensor_measurements

• optional bool is_siren_on = 30

Used in: Progress

• SUCCESS = 0

• FAIL = 1

• UNKNOWN = 2

Used in: CameraConfig, LidarConfig

• optional float x = 1

• optional float y = 2

• optional float z = 3

• repeated VehicleData.DataFile data_files = 1

Upon switching vehicle, we need to copy source data to the dest path to make it in effect.

Used in: VehicleData

• optional string source_path = 1

  Source path is a path relative to the vehicle data directory.

• optional string dest_path = 2

  Dest path is where the data file could become in effect.