package apollo.canbus

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: Gem

• optional double accel_cmd = 1

  Report Message [%] [0|1]

Used in: Gem

• optional double manual_input = 1

  Report Message [%] [0|1]

• optional double commanded_value = 2

  [%] [0|1]

• optional double output_value = 3

  [%] [0|1]

Used in: ChassisDetail

• optional bool is_auto_mode = 1

• optional BasicInfo.Type power_state = 2

• optional bool is_air_bag_deployed = 3

• optional double odo_meter = 4

  odo meter, unit:km

• optional double drive_range = 5

  the meter left when drive continuously, unit:km

• optional bool is_system_error = 6

• optional bool is_human_interrupt = 7

  human interrupt

• optional bool acc_on_button = 8

  lincoln misc 69

  acc on button pressed

• optional bool acc_off_button = 9

• optional bool acc_res_button = 10

• optional bool acc_cancel_button = 11

• optional bool acc_on_off_button = 12

• optional bool acc_res_cancel_button = 13

• optional bool acc_inc_spd_button = 14

• optional bool acc_dec_spd_button = 15

• optional bool acc_inc_gap_button = 16

• optional bool acc_dec_gap_button = 17

• optional bool lka_button = 18

• optional bool canbus_fault = 19

• optional double latitude = 20

  lincoln gps 6d

• optional double longitude = 21

• optional bool gps_valid = 22

• optional int32 year = 23

  lincoln gps 6e

• optional int32 month = 24

• optional int32 day = 25

• optional int32 hours = 26

• optional int32 minutes = 27

• optional int32 seconds = 28

• optional double compass_direction = 29

• optional double pdop = 30

• optional bool is_gps_fault = 31

• optional bool is_inferred = 32

• optional double altitude = 33

  lincoln gps 6f

• optional double heading = 34

• optional double hdop = 35

• optional double vdop = 36

• optional GpsQuality quality = 37

• optional int32 num_satellites = 38

• optional double gps_speed = 39

Used in: BasicInfo

• OFF = 0

• ACC = 1

• ON = 2

• START = 3

• INVALID = 4

Battery

Used in: ChassisDetail

• optional double battery_percent = 1

  unit:%, battery percentage left

• optional double fuel_level = 2

  lincoln fuellevel 72

Used in: ChassisDetail

• optional bool is_brake_pedal_pressed = 1

  ems 255

  only manual brake

• optional bool is_brake_force_exist = 2

  esp 277

  no matter auto mode brake or manual brake

• optional bool is_brake_over_heat = 3

• optional bool is_hand_brake_on = 4

  hand brake

• optional double brake_pedal_position = 5

• optional bool is_brake_valid = 6

  byd vtog 342

• optional double brake_input = 7

  lincoln brake 61

• optional double brake_cmd = 8

• optional double brake_output = 9

• optional bool boo_input = 10

• optional bool boo_cmd = 11

• optional bool boo_output = 12

• optional bool watchdog_applying_brakes = 13

• optional int32 watchdog_source = 14

• optional bool brake_enabled = 15

• optional bool driver_override = 16

• optional bool driver_activity = 17

• optional bool watchdog_fault = 18

• optional bool channel_1_fault = 19

• optional bool channel_2_fault = 20

• optional bool boo_fault = 21

• optional bool connector_fault = 22

• optional double brake_torque_req = 23

  lincoln brakeinfo 74

• optional Brake.HSAStatusType hsa_status = 24

• optional double brake_torque_act = 25

• optional Brake.HSAModeType hsa_mode = 26

• optional double wheel_torque_act = 27

• optional int32 major_version = 28

  lincoln version 7f

• optional int32 minor_version = 29

• optional int32 build_number = 30

Used in: Brake

• HSA_OFF = 0

• HSA_AUTO = 1

• HSA_MANUAL = 2

• HSA_MODE_UNDEFINED = 3

Used in: Brake

• HSA_INACTIVE = 0

• HSA_FINDING_GRADIENT = 1

• HSA_ACTIVE_PRESSED = 2

• HSA_ACTIVE_RELEASED = 3

• HSA_FAST_RELEASE = 4

• HSA_SLOW_RELEASE = 5

• HSA_FAILED = 6

• HSA_UNDEFINED = 7

Used in: Gem

• optional double brake_cmd = 1

  Report Message [%] [0|1]

Used in: Gem

• optional double motor_current = 1

  Report Message [amps] [0|4294967.295]

• optional double shaft_position = 2

  [radians] [-2147483.648|2147483.647]

Used in: Gem

• optional int32 encoder_temperature = 1

  Report Message [deg C] [-32808|32727]

• optional int32 motor_temperature = 2

  [deg C] [-32808|32727]

• optional double angular_speed = 3

  [rev/s] [0|4294967.295]

Used in: Gem

• optional double torque_output = 1

  Report Message [N-m] [-2147483.648|2147483.647]

• optional double torque_input = 2

  [N-m] [-2147483.648|2147483.647]

Used in: Gem

• optional double manual_input = 1

  [%] [0|1]

• optional double commanded_value = 2

  [%] [0|1]

• optional double output_value = 3

  [%] [0|1]

• optional Brake_rpt_6c.Brake_on_offType brake_on_off = 4

  [] [0|1]

Report Message

Used in: Brake_rpt_6c

• BRAKE_ON_OFF_OFF = 0

• BRAKE_ON_OFF_ON = 1

next id :31

Used in: planning_internal.PlanningData

• optional bool engine_started = 3

• optional float engine_rpm = 4

  Engine speed in RPM.

• optional float speed_mps = 5

  Vehicle Speed in meters per second.

• optional float odometer_m = 6

  Vehicle odometer in meters.

• optional int32 fuel_range_m = 7

  Fuel range in meters.

• optional float throttle_percentage = 8

  Real throttle location in [%], ranging from 0 to 100.

• optional float brake_percentage = 9

  Real brake location in [%], ranging from 0 to 100.

• optional float steering_percentage = 11

  Real steering location in [%], ranging from -100 to 100. steering_angle / max_steering_angle Clockwise: negative CountClockwise: positive

• optional float steering_torque_nm = 12

  Applied steering torque in [Nm].

• optional bool parking_brake = 13

  Parking brake status.

• optional bool high_beam_signal = 14

  Light signals.

• optional bool low_beam_signal = 15

• optional bool left_turn_signal = 16

• optional bool right_turn_signal = 17

• optional bool horn = 18

• optional bool wiper = 19

• optional bool disengage_status = 20

• optional Chassis.DrivingMode driving_mode = 21

• optional Chassis.ErrorCode error_code = 22

• optional Chassis.GearPosition gear_location = 23

• optional double steering_timestamp = 24

  timestamp for steering module

  In seconds, with 1e-6 accuracy

• optional common.Header header = 25

  chassis also needs it own sending timestamp

• optional int32 chassis_error_mask = 26

• optional common.VehicleSignal signal = 27

• optional ChassisGPS chassis_gps = 28

  Only available for Lincoln now

• optional common.EngageAdvice engage_advice = 29

• optional WheelSpeed wheel_speed = 30

• optional Surround surround = 31

• optional License license = 32

  Vehicle registration information

• optional common.VehicleID vehicle_id = 33

• optional int32 battery_soc_percentage = 34

• optional float throttle_percentage_cmd = 35

  Real send throttle location in [%], ranging from 0 to 100.

• optional float brake_percentage_cmd = 36

  Real send brake location in [%], ranging from 0 to 100.

• optional float steering_percentage_cmd = 37

  Real send steering location in [%], ranging from -100 to 100. steering_angle / max_steering_angle Clockwise: negative CountClockwise: positive

• optional Chassis.BumperEvent front_bumper_event = 38

• optional Chassis.BumperEvent back_bumper_event = 39

• optional CheckResponse check_response = 40

• optional google.protobuf.Any custom_status = 41

  Custom chassis operation command defined by user for extensibility.

Used in: Chassis

• BUMPER_INVALID = 0

• BUMPER_NORMAL = 1

• BUMPER_PRESSED = 2

Used in: Chassis, Safety, control.ControlCommand

• COMPLETE_MANUAL = 0

  human drive

• COMPLETE_AUTO_DRIVE = 1

• AUTO_STEER_ONLY = 2

  only steer

• AUTO_SPEED_ONLY = 3

  include throttle and brake

• EMERGENCY_MODE = 4

  security mode when manual intervention happens, only response status

Used in: Chassis

• NO_ERROR = 0

• CMD_NOT_IN_PERIOD = 1

  control cmd not in period

• CHASSIS_ERROR = 2

  car chassis report error, like steer, brake, throttle, gear fault

• CHASSIS_ERROR_ON_STEER = 6

  classify the types of the car chassis errors

• CHASSIS_ERROR_ON_BRAKE = 7

• CHASSIS_ERROR_ON_THROTTLE = 8

• CHASSIS_ERROR_ON_GEAR = 9

• CHASSIS_CAN_LOST = 10

• MANUAL_INTERVENTION = 3

  human manual intervention

• CHASSIS_CAN_NOT_IN_PERIOD = 4

  receive car chassis can frame not in period

• UNKNOWN_ERROR = 5

Used in: Chassis, Gear, control.ControlCommand, dreamview.Object, planning.ADCTrajectory

• GEAR_NEUTRAL = 0

• GEAR_DRIVE = 1

• GEAR_REVERSE = 2

• GEAR_PARKING = 3

• GEAR_LOW = 4

• GEAR_INVALID = 5

• GEAR_NONE = 6

• optional ChassisDetail.Type car_type = 1

  car type

• optional BasicInfo basic = 2

  basic info

• optional Safety safety = 3

  safety

• optional Gear gear = 4

  gear

• optional Ems ems = 5

  engine manager system

• optional Esp esp = 6

  Electronic Stability Program

• optional Gas gas = 7

  gas pedal

• optional Epb epb = 8

  Electronic parking brake

• optional Brake brake = 9

  brake pedal

• optional Deceleration deceleration = 10

  deceleration

• optional VehicleSpd vehicle_spd = 11

  vehicle speed

• optional Eps eps = 12

  Electronic Power Steering

• 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 common.VehicleID vehicle_id = 101

  Reserve fields for other vehicles

Used in: ChassisDetail

• QIRUI_EQ_15 = 0

• CHANGAN_RUICHENG = 1

Used in: Chassis

• optional double latitude = 1

• optional double longitude = 2

• optional bool gps_valid = 3

• optional int32 year = 4

• optional int32 month = 5

• optional int32 day = 6

• optional int32 hours = 7

• optional int32 minutes = 8

• optional int32 seconds = 9

• optional double compass_direction = 10

• optional double pdop = 11

• optional bool is_gps_fault = 12

• optional bool is_inferred = 13

• optional double altitude = 14

• optional double heading = 15

• optional double hdop = 16

• optional double vdop = 17

• optional GpsQuality quality = 18

• optional int32 num_satellites = 19

• optional double gps_speed = 20

CheckResponseSignal

Used in: Chassis

• optional bool is_eps_online = 1

• optional bool is_epb_online = 2

• optional bool is_esp_online = 3

• optional bool is_vtog_online = 4

• optional bool is_scu_online = 5

• optional bool is_switch_online = 6

• optional bool is_vcu_online = 7

CheckResponseSignal

Used in: ChassisDetail

• optional bool is_eps_online = 1

  byd:0x34C qirui:0x505

• optional bool is_epb_online = 2

  byd:0x218

• optional bool is_esp_online = 3

  byd:0x122 qirui:0x451

• optional bool is_vtog_online = 4

  byd:0x242

• optional bool is_scu_online = 5

  byd:0x35C

• optional bool is_switch_online = 6

  byd:0x133

• optional bool is_vcu_online = 7

  qirui:0x400

Used in: Gem

• optional int32 time_second = 1

  Report Message [sec] [0|60]

• optional int32 time_minute = 2

  [min] [0|60]

• optional int32 time_hour = 3

  [hr] [0|23]

• optional int32 date_day = 4

  [dy] [1|31]

• optional int32 date_month = 5

  [mon] [1|12]

• optional int32 date_year = 6

  [yr] [2000|2255]

Used in: ChassisDetail

• optional bool is_deceleration_available = 1

  esp 277

  for changan to send deceleration value

• optional bool is_deceleration_active = 2

  for changan to send deceleration value

• optional double deceleration = 3

• optional double is_evb_fail = 4

• optional double evb_pressure = 5

  mpa, 0~25.5

• optional double brake_pressure = 6

• optional double brake_pressure_spd = 7

Engine Manager System

Used in: ChassisDetail

• optional bool is_engine_acc_available = 1

  ems 26a

  for changan to control car

• optional bool is_engine_acc_error = 2

  for changan to control car

• optional Ems.Type engine_state = 3

  ems 265

• optional double max_engine_torq_percent = 4

  for engine torq control, unit:%

• optional double min_engine_torq_percent = 5

  for engine torq control, unit:%

• optional int32 base_engine_torq_constant = 6

  for engine torq control, unit:Nm

• optional bool is_engine_speed_error = 7

  ems 255

• optional double engine_speed = 8

• optional int32 engine_torque = 9

  byd vtog 241

• optional bool is_over_engine_torque = 10

  byd vtog 242

• optional double engine_rpm = 11

  lincoln mkz throttleinfo 75

Used in: Ems

• STOP = 0

• CRANK = 1

• RUNNING = 2

• INVALID = 3

Electrical Parking Brake

Used in: ChassisDetail

• optional bool is_epb_error = 1

  epb 256

• optional bool is_epb_released = 2

• optional int32 epb_status = 3

  byd epb 218

• optional Epb.PBrakeType parking_brake_status = 4

  lincoln brakeinfo 74

Used in: Epb

• PBRAKE_OFF = 0

• PBRAKE_TRANSITION = 1

• PBRAKE_ON = 2

• PBRAKE_FAULT = 3

Electrical Power Steering

Used in: ChassisDetail

• optional bool is_eps_fail = 1

  changan: eps 2a0

• optional Eps.Type eps_control_state = 2

  eps 2a0

  for changan to control steering

• optional double eps_driver_hand_torq = 3

  unit:Nm

• optional bool is_steering_angle_valid = 4

• optional double steering_angle = 5

  unit:degree

• optional double steering_angle_spd = 6

  unit:degree/s

• optional bool is_trimming_status = 7

  byd sas 11f

• optional bool is_calibration_status = 8

• optional bool is_failure_status = 9

• optional int32 allow_enter_autonomous_mode = 10

• optional int32 current_driving_mode = 11

• optional double steering_angle_cmd = 12

  lincoln steering 65

• optional double vehicle_speed = 13

• optional double epas_torque = 14

• optional bool steering_enabled = 15

• optional bool driver_override = 16

• optional bool driver_activity = 17

• optional bool watchdog_fault = 18

• optional bool channel_1_fault = 19

• optional bool channel_2_fault = 20

• optional bool calibration_fault = 21

• optional bool connector_fault = 22

• optional double timestamp_65 = 23

• optional int32 major_version = 24

  lincoln version 7f

• optional int32 minor_version = 25

• optional int32 build_number = 26

Used in: Eps

• NOT_AVAILABLE = 0

• READY = 1

• ACTIVE = 2

• INVALID = 3

Electronic Stability Program

Used in: ChassisDetail

• optional bool is_esp_acc_error = 1

  esp 277

  for changan to control car

• optional bool is_esp_on = 2

  esp 218

• optional bool is_esp_active = 3

• optional bool is_abs_error = 4

• optional bool is_abs_active = 5

• optional bool is_tcsvdc_fail = 6

• optional bool is_abs_enabled = 7

  lincoln brakeinfo 74

• optional bool is_stab_active = 8

• optional bool is_stab_enabled = 9

• optional bool is_trac_active = 10

• optional bool is_trac_enabled = 11

Used in: ChassisDetail

• optional bool is_gas_pedal_error = 1

  ems 255

• optional bool is_gas_pedal_pressed_more = 2

  ems 26a

  more than auto mode gas torq

• optional double gas_pedal_position = 3

  manual gas

• optional bool is_gas_valid = 4

  byd vtog 342

• optional double throttle_input = 5

  lincoln throttle 63

• optional double throttle_cmd = 6

• optional double throttle_output = 7

• optional int32 watchdog_source = 8

• optional bool throttle_enabled = 9

• optional bool driver_override = 10

• optional bool driver_activity = 11

• optional bool watchdog_fault = 12

• optional bool channel_1_fault = 13

• optional bool channel_2_fault = 14

• optional bool connector_fault = 15

• optional double accelerator_pedal = 16

  lincoln throttleinfo 75

• optional double accelerator_pedal_rate = 17

• optional int32 major_version = 18

  lincoln version 7f

• optional int32 minor_version = 19

• optional int32 build_number = 20

Used in: ChassisDetail

• optional bool is_shift_position_valid = 1

  tcu 268

• optional Chassis.GearPosition gear_state = 2

  chanan: tcu 268

• optional bool driver_override = 3

  lincoln gear 67

• optional Chassis.GearPosition gear_cmd = 4

• optional bool canbus_fault = 5

• 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

Used in: Gem

• optional Global_cmd_69.Pacmod_enableType pacmod_enable = 1

  [] [0|1]

• optional Global_cmd_69.Clear_overrideType clear_override = 2

  [] [0|1]

• optional Global_cmd_69.Ignore_overrideType ignore_override = 3

  [] [0|1]

Used in: Global_cmd_69

• CLEAR_OVERRIDE_DON_T_CLEAR_ACTIVE_OVERRIDES = 0

• CLEAR_OVERRIDE_CLEAR_ACTIVE_OVERRIDES = 1

Used in: Global_cmd_69

• IGNORE_OVERRIDE_DON_T_IGNORE_USER_OVERRIDES = 0

• IGNORE_OVERRIDE_IGNORE_USER_OVERRIDES = 1

Report Message

Used in: Global_cmd_69

• PACMOD_ENABLE_CONTROL_DISABLED = 0

• PACMOD_ENABLE_CONTROL_ENABLED = 1

Used in: Gem

• optional Global_rpt_6a.Pacmod_statusType pacmod_status = 1

  [] [0|1]

• optional Global_rpt_6a.Override_statusType override_status = 2

  [] [0|1]

• optional bool veh_can_timeout = 3

  [] [0|1]

• optional bool str_can_timeout = 4

  [] [0|1]

• optional Global_rpt_6a.Brk_can_timeoutType brk_can_timeout = 5

  [] [0|1]

• optional bool usr_can_timeout = 6

  [] [0|1]

• optional int32 usr_can_read_errors = 7

  [] [0|65535]

Used in: Global_rpt_6a

• BRK_CAN_TIMEOUT_NO_ACTIVE_CAN_TIMEOUT = 0

• BRK_CAN_TIMEOUT_ACTIVE_CAN_TIMEOUT = 1

Used in: Global_rpt_6a

• OVERRIDE_STATUS_NOT_OVERRIDDEN = 0

• OVERRIDE_STATUS_OVERRIDDEN = 1

Report Message

Used in: Global_rpt_6a

• PACMOD_STATUS_CONTROL_DISABLED = 0

• PACMOD_STATUS_CONTROL_ENABLED = 1

Used in: BasicInfo, ChassisGPS

• FIX_NO = 0

• FIX_2D = 1

• FIX_3D = 2

• FIX_INVALID = 3

Used in: Gem

• optional Headlight_cmd_76.Headlight_cmdType headlight_cmd = 1

  [] [0|2]

Report Message

Used in: Headlight_cmd_76

• HEADLIGHT_CMD_HEADLIGHTS_OFF = 0

• HEADLIGHT_CMD_LOW_BEAMS = 1

• HEADLIGHT_CMD_HIGH_BEAMS = 2

Used in: Gem

• optional Headlight_rpt_77.Output_valueType output_value = 1

  [] [0|2]

• optional Headlight_rpt_77.Manual_inputType manual_input = 2

  [] [0|2]

• optional Headlight_rpt_77.Commanded_valueType commanded_value = 3

  [] [0|2]

Used in: Headlight_rpt_77

• COMMANDED_VALUE_HEADLIGHTS_OFF = 0

• COMMANDED_VALUE_LOW_BEAMS = 1

• COMMANDED_VALUE_HIGH_BEAMS = 2

Used in: Headlight_rpt_77

• MANUAL_INPUT_HEADLIGHTS_OFF = 0

• MANUAL_INPUT_LOW_BEAMS = 1

• MANUAL_INPUT_HIGH_BEAMS = 2

Report Message

Used in: Headlight_rpt_77

• OUTPUT_VALUE_HEADLIGHTS_OFF = 0

• OUTPUT_VALUE_LOW_BEAMS = 1

• OUTPUT_VALUE_HIGH_BEAMS = 2

Used in: Gem

• optional Horn_cmd_78.Horn_cmdType horn_cmd = 1

  [] [0|1]

Report Message

Used in: Horn_cmd_78

• HORN_CMD_OFF = 0

• HORN_CMD_ON = 1

Used in: Gem

• optional Horn_rpt_79.Output_valueType output_value = 1

  [] [0|1]

• optional Horn_rpt_79.Commanded_valueType commanded_value = 2

  [] [0|1]

• optional Horn_rpt_79.Manual_inputType manual_input = 3

  [] [0|1]

Used in: Horn_rpt_79

• COMMANDED_VALUE_OFF = 0

• COMMANDED_VALUE_ON = 1

Used in: Horn_rpt_79

• MANUAL_INPUT_OFF = 0

• MANUAL_INPUT_ON = 1

Report Message

Used in: Horn_rpt_79

• OUTPUT_VALUE_OFF = 0

• OUTPUT_VALUE_ON = 1

Used in: Gem

• optional double heading = 1

  Report Message [deg] [-327.68|327.67]

• optional int32 longitude_seconds = 2

  [sec] [-128|127]

• optional int32 longitude_minutes = 3

  [min] [-128|127]

• optional int32 longitude_degrees = 4

  [deg] [-128|127]

• optional int32 latitude_seconds = 5

  [sec] [-128|127]

• optional int32 latitude_minutes = 6

  [min] [-128|127]

• optional int32 latitude_degrees = 7

  [deg] [-128|127]

Used in: Chassis, ChassisDetail

• optional string vin = 1

light

Used in: ChassisDetail

• optional Light.TurnLightType turn_light_type = 1

• optional Light.BeamLampType beam_lamp_type = 2

• optional bool is_brake_lamp_on = 3

• optional bool is_auto_light = 4

  byd switch 133

• optional int32 wiper_gear = 5

• optional int32 lotion_gear = 6

• optional bool is_horn_on = 7

• optional Light.LincolnLampType lincoln_lamp_type = 8

  lincoln misc 69

• optional Light.LincolnWiperType lincoln_wiper = 9

• optional Light.LincolnAmbientType lincoln_ambient = 10

Used in: Light

• BEAM_OFF = 0

• HIGH_BEAM_ON = 1

• LOW_BEAM_ON = 2

Used in: Light

• AMBIENT_DARK = 0

• AMBIENT_LIGHT = 1

• AMBIENT_TWILIGHT = 2

• AMBIENT_TUNNEL_ON = 3

• AMBIENT_TUNNEL_OFF = 4

• AMBIENT_INVALID = 5

• AMBIENT_NO_DATA = 7

Used in: Light

• BEAM_NULL = 0

• BEAM_FLASH_TO_PASS = 1

• BEAM_HIGH = 2

• BEAM_INVALID = 3

Used in: Light

• WIPER_OFF = 0

• WIPER_AUTO_OFF = 1

• WIPER_OFF_MOVING = 2

• WIPER_MANUAL_OFF = 3

• WIPER_MANUAL_ON = 4

• WIPER_MANUAL_LOW = 5

• WIPER_MANUAL_HIGH = 6

• WIPER_MIST_FLICK = 7

• WIPER_WASH = 8

• WIPER_AUTO_LOW = 9

• WIPER_AUTO_HIGH = 10

• WIPER_COURTESY_WIPE = 11

• WIPER_AUTO_ADJUST = 12

• WIPER_RESERVED = 13

• WIPER_STALLED = 14

• WIPER_NO_DATA = 15

Used in: Light

• TURN_LIGHT_OFF = 0

• TURN_LEFT_ON = 1

• TURN_RIGHT_ON = 2

• TURN_LIGHT_ON = 3

Used in: Gem

• optional Parking_brake_status_rpt_80.Parking_brake_enabledType parking_brake_enabled = 1

  [] [0|1]

Report Message

Used in: Parking_brake_status_rpt_80

• PARKING_BRAKE_ENABLED_OFF = 0

• PARKING_BRAKE_ENABLED_ON = 1

Used in: ChassisDetail

• optional bool is_driver_car_door_close = 1

  ip 270

• optional bool is_driver_buckled = 2

  sas 50

• optional int32 emergency_button = 3

  byd sws 4a8

• optional bool has_error = 4

  qirui:403 when car chassis error, like system fault, or warning report

• optional bool is_motor_invertor_fault = 5

• optional bool is_system_fault = 6

• optional bool is_power_battery_fault = 7

• optional bool is_motor_invertor_over_temperature = 8

• optional bool is_small_battery_charge_discharge_fault = 9

• optional int32 driving_mode = 10

• optional bool is_passenger_door_open = 11

  lincoln misc 69

• optional bool is_rearleft_door_open = 12

• optional bool is_rearright_door_open = 13

• optional bool is_hood_open = 14

• optional bool is_trunk_open = 15

• optional bool is_passenger_detected = 16

• optional bool is_passenger_airbag_enabled = 17

• optional bool is_passenger_buckled = 18

• optional int32 front_left_tire_press = 19

  lincoln tirepressure 71

• optional int32 front_right_tire_press = 20

• optional int32 rear_left_tire_press = 21

• optional int32 rear_right_tire_press = 22

• optional Chassis.DrivingMode car_driving_mode = 23

Used in: Gem

• optional Shift_cmd_65.Shift_cmdType shift_cmd = 1

  FORWARD_is_also_LOW_on_vehicles_with_LOW/HIGH,_PARK_and_HIGH_only_available_on_certain_Vehicles [] [0|4]

Report Message

Used in: Shift_cmd_65

• SHIFT_CMD_PARK = 0

• SHIFT_CMD_REVERSE = 1

• SHIFT_CMD_NEUTRAL = 2

• SHIFT_CMD_FORWARD = 3

• SHIFT_CMD_LOW = 4

Used in: Gem

• optional Shift_rpt_66.Manual_inputType manual_input = 1

  [] [0|4]

• optional Shift_rpt_66.Commanded_valueType commanded_value = 2

  [] [0|4]

• optional Shift_rpt_66.Output_valueType output_value = 3

  [] [0|4]

Used in: Shift_rpt_66

• COMMANDED_VALUE_PARK = 0

• COMMANDED_VALUE_REVERSE = 1

• COMMANDED_VALUE_NEUTRAL = 2

• COMMANDED_VALUE_FORWARD = 3

• COMMANDED_VALUE_HIGH = 4

Report Message

Used in: Shift_rpt_66

• MANUAL_INPUT_PARK = 0

• MANUAL_INPUT_REVERSE = 1

• MANUAL_INPUT_NEUTRAL = 2

• MANUAL_INPUT_FORWARD = 3

• MANUAL_INPUT_HIGH = 4

Used in: Shift_rpt_66

• OUTPUT_VALUE_PARK = 0

• OUTPUT_VALUE_REVERSE = 1

• OUTPUT_VALUE_NEUTRAL = 2

• OUTPUT_VALUE_FORWARD = 3

• OUTPUT_VALUE_HIGH = 4

Used in: Surround

• optional double range = 1

  Meter

• optional common.Point3D translation = 2

  Meter

• optional common.Quaternion rotation = 3

Used in: Gem

• optional double position_value = 1

  Report Message [radians] [-2147483.648|2147483.647]

• optional double speed_limit = 2

  [rad/s] [0|65.535]

Used in: Gem

• optional double motor_current = 1

  Report Message [amps] [0|4294967.295]

• optional double shaft_position = 2

  [amps] [-2147483.648|2147483.647]

Used in: Gem

• optional int32 encoder_temperature = 1

  Report Message [deg C] [-32808|32727]

• optional int32 motor_temperature = 2

  [deg C] [-32808|32727]

• optional double angular_speed = 3

  [rev/s] [-2147483.648|2147483.647]

Used in: Gem

• optional double torque_output = 1

  Report Message [N-m] [-2147483.648|2147483.647]

• optional double torque_input = 2

  [N-m] [-2147483.648|2147483.647]

Used in: Gem

• optional double manual_input = 1

  Report Message [rad/s] [-32.768|32.767]

• optional double commanded_value = 2

  [rad/s] [-32.768|32.767]

• optional double output_value = 3

  [rad/s] [-32.768|32.767]

Used in: Chassis, ChassisDetail

• optional bool cross_traffic_alert_left = 1

• optional bool cross_traffic_alert_left_enabled = 2

• optional bool blind_spot_left_alert = 3

• optional bool blind_spot_left_alert_enabled = 4

• optional bool cross_traffic_alert_right = 5

• optional bool cross_traffic_alert_right_enabled = 6

• optional bool blind_spot_right_alert = 7

• optional bool blind_spot_right_alert_enabled = 8

• optional double sonar00 = 9

• optional double sonar01 = 10

• optional double sonar02 = 11

• optional double sonar03 = 12

• optional double sonar04 = 13

• optional double sonar05 = 14

• optional double sonar06 = 15

• optional double sonar07 = 16

• optional double sonar08 = 17

• optional double sonar09 = 18

• optional double sonar10 = 19

• optional double sonar11 = 20

• optional bool sonar_enabled = 21

• optional bool sonar_fault = 22

• repeated double sonar_range = 23

• repeated Sonar sonar = 24

Used in: Gem

• optional Turn_cmd_63.Turn_signal_cmdType turn_signal_cmd = 1

  [] [0|3]

Report Message

Used in: Turn_cmd_63

• TURN_SIGNAL_CMD_RIGHT = 0

• TURN_SIGNAL_CMD_NONE = 1

• TURN_SIGNAL_CMD_LEFT = 2

• TURN_SIGNAL_CMD_HAZARD = 3

Used in: Gem

• optional Turn_rpt_64.Manual_inputType manual_input = 1

  [] [0|3]

• optional Turn_rpt_64.Commanded_valueType commanded_value = 2

  [] [0|3]

• optional Turn_rpt_64.Output_valueType output_value = 3

  [] [0|3]

Used in: Turn_rpt_64

• COMMANDED_VALUE_RIGHT = 0

• COMMANDED_VALUE_NONE = 1

• COMMANDED_VALUE_LEFT = 2

• COMMANDED_VALUE_HAZARD = 3

Report Message

Used in: Turn_rpt_64

• MANUAL_INPUT_RIGHT = 0

• MANUAL_INPUT_NONE = 1

• MANUAL_INPUT_LEFT = 2

• MANUAL_INPUT_HAZARD = 3

Used in: Turn_rpt_64

• OUTPUT_VALUE_RIGHT = 0

• OUTPUT_VALUE_NONE = 1

• OUTPUT_VALUE_LEFT = 2

• OUTPUT_VALUE_HAZARD = 3

Used in: ChassisDetail

• optional bool is_vehicle_standstill = 1

  esp 277

• optional bool is_vehicle_spd_valid = 2

  esp 218

• optional double vehicle_spd = 3

  unit:m/s

• optional bool is_wheel_spd_rr_valid = 4

  esp 208

• optional WheelSpeed.WheelSpeedType wheel_direction_rr = 5

• optional double wheel_spd_rr = 6

• optional bool is_wheel_spd_rl_valid = 7

• optional WheelSpeed.WheelSpeedType wheel_direction_rl = 8

• optional double wheel_spd_rl = 9

• optional bool is_wheel_spd_fr_valid = 10

• optional WheelSpeed.WheelSpeedType wheel_direction_fr = 11

• optional double wheel_spd_fr = 12

• optional bool is_wheel_spd_fl_valid = 13

• optional WheelSpeed.WheelSpeedType wheel_direction_fl = 14

• optional double wheel_spd_fl = 15

• optional bool is_yaw_rate_valid = 16

  byd esp 222

• optional double yaw_rate = 17

• optional double yaw_rate_offset = 18

• optional bool is_ax_valid = 19

  byd esp 223

• optional double ax = 20

• optional double ax_offset = 21

• optional bool is_ay_valid = 22

• optional double ay = 23

• optional double ay_offset = 24

• optional double lat_acc = 25

  lincoln accel 6b

• optional double long_acc = 26

• optional double vert_acc = 27

• optional double roll_rate = 28

  lincoln gyro 6c

• optional double acc_est = 29

  lincoln brakeinfo 74

• optional double timestamp_sec = 30

  lincoln wheelspeed 6a

Used in: Gem

• optional double vehicle_speed = 1

  [m/s] [-327.68|327.67]

• optional Vehicle_speed_rpt_6f.Vehicle_speed_validType vehicle_speed_valid = 2

  [] [0|1]

Report Message

Used in: Vehicle_speed_rpt_6f

• VEHICLE_SPEED_VALID_INVALID = 0

• VEHICLE_SPEED_VALID_VALID = 1

Used in: Chassis

• optional bool is_wheel_spd_rr_valid = 1

• optional WheelSpeed.WheelSpeedType wheel_direction_rr = 2

• optional double wheel_spd_rr = 3

• optional bool is_wheel_spd_rl_valid = 4

• optional WheelSpeed.WheelSpeedType wheel_direction_rl = 5

• optional double wheel_spd_rl = 6

• optional bool is_wheel_spd_fr_valid = 7

• optional WheelSpeed.WheelSpeedType wheel_direction_fr = 8

• optional double wheel_spd_fr = 9

• optional bool is_wheel_spd_fl_valid = 10

• optional WheelSpeed.WheelSpeedType wheel_direction_fl = 11

• optional double wheel_spd_fl = 12

Used in: VehicleSpd, WheelSpeed

• FORWARD = 0

• BACKWARD = 1

• STANDSTILL = 2

• INVALID = 3

Used in: Gem

• optional int32 wheel_spd_rear_right = 1

  Report Message [rad/s] [-32768|32767]

• optional int32 wheel_spd_rear_left = 2

  [rad/s] [-32768|32767]

• optional int32 wheel_spd_front_right = 3

  [rad/s] [-32768|32767]

• optional int32 wheel_spd_front_left = 4

  [rad/s] [-32768|32767]

Used in: Gem

• optional Wiper_cmd_90.Wiper_cmdType wiper_cmd = 1

  [] [0|7]

Report Message

Used in: Wiper_cmd_90

• WIPER_CMD_WIPERS_OFF = 0

• WIPER_CMD_INTERMITTENT_1 = 1

• WIPER_CMD_INTERMITTENT_2 = 2

• WIPER_CMD_INTERMITTENT_3 = 3

• WIPER_CMD_INTERMITTENT_4 = 4

• WIPER_CMD_INTERMITTENT_5 = 5

• WIPER_CMD_LOW = 6

• WIPER_CMD_HIGH = 7

Used in: Gem

• optional Wiper_rpt_91.Output_valueType output_value = 1

  [] [0|7]

• optional Wiper_rpt_91.Commanded_valueType commanded_value = 2

  [] [0|7]

• optional Wiper_rpt_91.Manual_inputType manual_input = 3

  [] [0|7]

Used in: Wiper_rpt_91

• COMMANDED_VALUE_WIPERS_OFF = 0

• COMMANDED_VALUE_INTERMITTENT_1 = 1

• COMMANDED_VALUE_INTERMITTENT_2 = 2

• COMMANDED_VALUE_INTERMITTENT_3 = 3

• COMMANDED_VALUE_INTERMITTENT_4 = 4

• COMMANDED_VALUE_INTERMITTENT_5 = 5

• COMMANDED_VALUE_LOW = 6

• COMMANDED_VALUE_HIGH = 7

Used in: Wiper_rpt_91

• MANUAL_INPUT_WIPERS_OFF = 0

• MANUAL_INPUT_INTERMITTENT_1 = 1

• MANUAL_INPUT_INTERMITTENT_2 = 2

• MANUAL_INPUT_INTERMITTENT_3 = 3

• MANUAL_INPUT_INTERMITTENT_4 = 4

• MANUAL_INPUT_INTERMITTENT_5 = 5

• MANUAL_INPUT_LOW = 6

• MANUAL_INPUT_HIGH = 7

Report Message

Used in: Wiper_rpt_91

• OUTPUT_VALUE_WIPERS_OFF = 0

• OUTPUT_VALUE_INTERMITTENT_1 = 1

• OUTPUT_VALUE_INTERMITTENT_2 = 2

• OUTPUT_VALUE_INTERMITTENT_3 = 3

• OUTPUT_VALUE_INTERMITTENT_4 = 4

• OUTPUT_VALUE_INTERMITTENT_5 = 5

• OUTPUT_VALUE_LOW = 6

• OUTPUT_VALUE_HIGH = 7

Used in: Gem

• optional double yaw_rate = 1

  Report Message [rad/s] [-327.68|327.67]