package apollo.common

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View/edit binary Protocol Buffers messages

Used in: v2x.RoadTrafficLight

• EAST = 0

• WEST = 1

• SOUTH = 2

• NORTH = 3

• NORTHEAST = 4

• SOUTHEAST = 5

• SOUTHWEST = 6

• NORTHWEST = 7

• optional Header header = 1

• optional string event = 2

• optional localization.Pose location = 3

• repeated DriveEvent.Type type = 4

• optional bool is_reportable = 5

Used in: DriveEvent

• CRITICAL = 0

• PROBLEM = 1

• DESIRED = 2

• OUT_OF_SCOPE = 3

This is the engage advice that published by critical runtime modules.

Used in: canbus.Chassis, control.ControlCommand, planning.ADCTrajectory

• optional EngageAdvice.Advice advice = 1

• optional string reason = 2

Used in: EngageAdvice

• UNKNOWN = 0

• DISALLOW_ENGAGE = 1

• READY_TO_ENGAGE = 2

• KEEP_ENGAGED = 3

• PREPARE_DISENGAGE = 4

Error codes enum for API's categorized by modules.

Used in: StatusPb, drivers.RadarObstacles, perception.PerceptionBenchmarkFrame, perception.PerceptionObstacles, prediction.PredictionObstacles

• OK = 0

  No error, returns on success.

• CONTROL_ERROR = 1000

  Control module error codes start from here.

• CONTROL_INIT_ERROR = 1001

• CONTROL_COMPUTE_ERROR = 1002

• CONTROL_ESTOP_ERROR = 1003

• PERFECT_CONTROL_ERROR = 1004

• CANBUS_ERROR = 2000

  Canbus module error codes start from here.

• CAN_CLIENT_ERROR_BASE = 2100

• CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101

• CAN_CLIENT_ERROR_FRAME_NUM = 2102

• CAN_CLIENT_ERROR_SEND_FAILED = 2103

• CAN_CLIENT_ERROR_RECV_FAILED = 2104

• LOCALIZATION_ERROR = 3000

  Localization module error codes start from here.

• LOCALIZATION_ERROR_MSG = 3100

• LOCALIZATION_ERROR_LIDAR = 3200

• LOCALIZATION_ERROR_INTEG = 3300

• LOCALIZATION_ERROR_GNSS = 3400

• PERCEPTION_ERROR = 4000

  Perception module error codes start from here.

• PERCEPTION_ERROR_TF = 4001

• PERCEPTION_ERROR_PROCESS = 4002

• PERCEPTION_FATAL = 4003

• PERCEPTION_ERROR_NONE = 4004

• PERCEPTION_ERROR_UNKNOWN = 4005

• PREDICTION_ERROR = 5000

  Prediction module error codes start from here.

• PLANNING_ERROR = 6000

  Planning module error codes start from here

• PLANNING_ERROR_NOT_READY = 6001

• HDMAP_DATA_ERROR = 7000

  HDMap module error codes start from here

• ROUTING_ERROR = 8000

  Routing module error codes

• ROUTING_ERROR_REQUEST = 8001

• ROUTING_ERROR_RESPONSE = 8002

• ROUTING_ERROR_NOT_READY = 8003

• END_OF_INPUT = 9000

  Indicates an input has been exhausted.

• HTTP_LOGIC_ERROR = 10000

  HTTP request error codes.

• HTTP_RUNTIME_ERROR = 10001

• RELATIVE_MAP_ERROR = 11000

  Relative Map error codes.

  general relative map error code

• RELATIVE_MAP_NOT_READY = 11001

• DRIVER_ERROR_GNSS = 12000

  Driver error codes.

• DRIVER_ERROR_VELODYNE = 13000

• STORYTELLING_ERROR = 14000

  Storytelling error codes.

Used in: VehicleConfig

• repeated Transform tansforms = 1

• optional double s = 1

• optional double l = 2

• optional double dl = 3

• optional double ddl = 4

Used in: TrajectoryPoint, dreamview.PolygonPoint

• optional double sigma_x = 1

  Information of gaussian distribution

• optional double sigma_y = 2

• optional double correlation = 3

• optional double area_probability = 4

  Information of representative uncertainty area

• optional double ellipse_a = 5

• optional double ellipse_b = 6

• optional double theta_a = 7

Used in: audio.AudioDetection, audio.AudioEvent, canbus.Chassis, DriveEvent, VehicleConfig, monitor.MonitorMessage, control.ControlCommand, control.ControlInteractiveMsg, control.InputDebug, control.PadMessage, data.SmartRecorderStatus, dreamview.HMIStatus, drivers.CompressedImage, drivers.ContiRadar, drivers.ContiRadarObs, drivers.DelphiESR, drivers.Image, drivers.Mobileye, drivers.NanoRadar, drivers.NanoRadarObs, drivers.OculiiPointCloud, drivers.PointCloud, drivers.RacobitRadar, drivers.RacobitRadarObs, drivers.RadarObstacles, drivers.RadarPointCloud, drivers.SmartereyeObstacles, drivers.Ultrasonic, drivers.gnss.Gnss, drivers.gnss.GnssBestPose, drivers.gnss.Heading, drivers.gnss.Imu, drivers.gnss.Ins, drivers.gnss.InsStat, drivers.gnss.RawData, external_command.ActionCommand, external_command.ChassisCommand, external_command.CommandStatus, external_command.CommandStatusRequest, external_command.FreeSpaceCommand, external_command.LaneFollowCommand, external_command.PathFollowCommand, external_command.PreciseParkingCommand, external_command.SpeedCommand, external_command.ValetParkingCommand, external_command.ZoneCoverCommand, guardian.GuardianCommand, localization.CorrectedImu, localization.Gps, localization.LocalizationEstimate, localization.LocalizationStatus, monitor.SystemStatus, perception.PerceptionAccurateDockInfo, perception.PerceptionBarrierGate, perception.PerceptionBenchmarkFrame, perception.PerceptionEdgeInfo, perception.PerceptionLanes, perception.PerceptionObstacles, perception.TrafficLightDetection, perception.camera.CameraDebug, planning.ADCTrajectory, planning.PadMessage, planning.ParkingCommand, planning.PlanningCommand, planning_internal.PlanningData, prediction.PredictionObstacles, relative_map.MapMsg, relative_map.NavigationInfo, routing.RoutingRequest, routing.RoutingResponse, storytelling.Stories, task_manager.Task, transform.TransformStamped, transform.TransformStampeds, v2x.IntersectionTrafficLightData

• optional double timestamp_sec = 1

  Message publishing time in seconds.

• optional string module_name = 2

  Module name.

• optional uint32 sequence_num = 3

  Sequence number for each message. Each module maintains its own counter for sequence_num, always starting from 1 on boot.

• optional uint64 lidar_timestamp = 4

  Lidar Sensor timestamp for nano-second.

• optional uint64 camera_timestamp = 5

  Camera Sensor timestamp for nano-second.

• optional uint64 radar_timestamp = 6

  Radar Sensor timestamp for nano-second.

• optional uint32 version = 7

  data version

• optional StatusPb status = 8

• optional string frame_id = 9

Used in: VehicleParam

• optional double dead_time = 1

  latency parameters, in second (s)

• optional double rise_time = 2

• optional double peak_time = 3

• optional double settling_time = 4

Used in: dreamview.SimulationWorld, planning_internal.CloudReferenceLineResponse, planning_internal.HybridModelDebug, planning_internal.PlanningData, relative_map.NavigationPath

• optional string name = 1

• repeated PathPoint path_point = 2

Used in: Path, TrajectoryPoint, planning.ADCTrajectory, prediction.LaneSequence

• optional double x = 1

  coordinates

• optional double y = 2

• optional double z = 3

• optional double theta = 4

  direction on the x-y plane

• optional double kappa = 5

  curvature on the x-y planning

• optional double s = 6

  accumulated distance from beginning of the path

• optional double dkappa = 7

  derivative of kappa w.r.t s.

• optional double ddkappa = 8

  derivative of derivative of kappa w.r.t s.

• optional string lane_id = 9

  The lane ID where the path point is on

• optional double x_derivative = 10

  derivative of x and y w.r.t parametric parameter t in CosThetareferenceline

• optional double y_derivative = 11

A general 2D point. Its meaning and units depend on context, and must be explained in comments.

Used in: dreamview.Line, dreamview.Polygon, dreamview.ScenarioInfo, drivers.RadarObstacle, perception.camera.CameraLaneLine, perception.camera.CameraObstacle, perception.camera.EndPoints

• optional double x = 1

• optional double y = 2

A general 3D point. Its meaning and units depend on context, and must be explained in comments.

Used in: audio.AudioDetection, canbus.Sonar, Polygon, Transform, drivers.gnss.Gnss, drivers.gnss.Imu, drivers.gnss.Ins, localization.Pose, localization.Uncertainty, perception.PerceptionAccurateDockInfo, perception.PerceptionEdgeInfo, perception.PerceptionObstacle, perception.PerceptionWaste, perception.SensorMeasurement, perception.camera.CameraLaneLine, prediction.Feature, prediction.JunctionExit, prediction.LanePoint, transform.Transform

• optional double x = 1

• optional double y = 2

• optional double z = 3

A point in the map reference frame. The map defines an origin, whose coordinate is (0, 0, 0). Most modules, including localization, perception, and prediction, generate results based on the map reference frame. Currently, the map uses Universal Transverse Mercator (UTM) projection. See the link below for the definition of map origin. https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system The z field of PointENU can be omitted. If so, it is a 2D location and we do not care its height.

Used in: hdmap.CurveSegment, hdmap.LineSegment, hdmap.Polygon, hdmap.Subsignal, localization.Pose, planning.MainMissionComplete, planning.MainStop, planning.ObjectFollow, planning.ObjectOvertake, planning.ObjectStop, planning.ObjectYield, planning_internal.OpenSpaceDebug, planning_internal.PullOverDebug, routing.LaneWaypoint, routing.ParkingInfo

• optional double x = 1

  East from the origin, in meters.

• optional double y = 2

  North from the origin, in meters.

• optional double z = 3

  Up from the WGS-84 ellipsoid, in

A point in the global reference frame. Similar to PointENU, PointLLH allows omitting the height field for representing a 2D location.

Used in: drivers.gnss.Gnss, drivers.gnss.Ins

• optional double lon = 1

  Longitude in degrees, ranging from -180 to 180.

• optional double lat = 2

  Latitude in degrees, ranging from -90 to 90.

• optional double height = 3

  WGS-84 ellipsoid height in meters.

A general polygon, points are counter clockwise

Used in: planning.ADCTrajectory.CriticalRegion

• repeated Point3D point = 1

A unit quaternion that represents a spatial rotation. See the link below for details. https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation The scalar part qw can be omitted. In this case, qw should be calculated by qw = sqrt(1 - qx * qx - qy * qy - qz * qz).

Used in: canbus.Sonar, Transform, localization.Pose, transform.Transform

• optional double qx = 1

• optional double qy = 2

• optional double qz = 3

• optional double qw = 4

Used in: planning.SLBoundary, planning_internal.DpPolyGraphDebug, planning_internal.SLFrameDebug, planning_internal.SampleLayerDebug

• optional double s = 1

• optional double l = 2

Used in: planning_internal.STGraphDebug, planning_internal.SpeedPlan, planning_internal.StGraphBoundaryDebug

• optional double s = 1

• optional double t = 2

• optional double v = 3

  speed (m/s)

• optional double a = 4

  acceleration (m/s^2)

• optional double da = 5

  jerk (m/s^3)

Used in: Header, routing.RoutingResponse

• optional ErrorCode error_code = 1

• optional string msg = 2

Used in: planning_internal.Trajectories

• optional string name = 1

• repeated TrajectoryPoint trajectory_point = 2

Used in: Trajectory, VehicleMotionPoint, control.SimpleLateralDebug, control.SimpleLongitudinalDebug, control.SimpleMPCDebug, dreamview.ControlData, localization.LocalizationEstimate, perception.Trajectory, planning.ADCTrajectory, planning_internal.OpenSpaceDebug, planning_internal.PlanningData, prediction.Feature, prediction.Trajectory

• optional PathPoint path_point = 1

  path point

• optional double v = 2

  linear velocity

  in [m/s]

• optional double a = 3

  linear acceleration

• optional double relative_time = 4

  relative time from beginning of the trajectory

• optional double da = 5

  longitudinal jerk

• optional double steer = 6

  The angle between vehicle front wheel and vehicle longitudinal axis

• optional GaussianInfo gaussian_info = 7

  Gaussian probability information

Used in: Extrinsics

• optional bytes source_frame = 1

  Also known as "frame_id."

• optional bytes target_frame = 2

  Also known as "child_frame_id."

• optional Point3D translation = 3

  Position of target in the source frame.

• optional Quaternion rotation = 4

  Activate rotation from the source frame to the target frame.

Used in: VehicleParam

• LINCOLN_MKZ = 0

• GEM = 1

• LEXUS = 2

• TRANSIT = 3

• GE3 = 4

• WEY = 5

• ZHONGYUN = 6

• CH = 7

• DKIT = 8

• NEOLIX = 9

• optional Header header = 1

• optional VehicleParam vehicle_param = 2

• optional Extrinsics extrinsics = 3

Used in: canbus.Chassis, canbus.ChassisDetail, VehicleParam

• optional string vin = 1

• optional string plate = 2

• optional string other_unique_id = 3

Used in: planning_internal.OpenSpaceDebug

• optional string name = 1

• repeated VehicleMotionPoint vehicle_motion_point = 2

Used in: VehicleMotion

• optional TrajectoryPoint trajectory_point = 1

  trajectory point

• optional double steer = 2

  The angle between vehicle front wheel and vehicle longitudinal axis

Used in: VehicleConfig, dreamview.SimulationWorld

• optional VehicleBrand brand = 1

• optional VehicleID vehicle_id = 2

  Car center point is car reference point, i.e., center of rear axle.

• optional double front_edge_to_center = 3

• optional double back_edge_to_center = 4

• optional double left_edge_to_center = 5

• optional double right_edge_to_center = 6

• optional double length = 7

• optional double width = 8

• optional double height = 9

• optional double min_turn_radius = 10

• optional double max_acceleration = 11

• optional double max_deceleration = 12

• optional double max_steer_angle = 13

  The following items are used to compute trajectory constraints in planning/control/canbus, vehicle max steer angle

• optional double max_steer_angle_rate = 14

  vehicle max steer rate; how fast can the steering wheel turn.

• optional double min_steer_angle_rate = 15

  vehicle min steer rate;

• optional double steer_ratio = 16

  ratio between the turn of steering wheel and the turn of wheels

• optional double wheel_base = 17

  the distance between the front and back wheels

• optional double wheel_rolling_radius = 18

  Tire effective rolling radius (vertical distance between the wheel center and the ground).

• optional float max_abs_speed_when_stopped = 19

  minimum differentiable vehicle speed, in m/s

• optional double brake_deadzone = 20

  minimum value get from chassis.brake, in percentage

• optional double throttle_deadzone = 21

  minimum value get from chassis.throttle, in percentage

• optional LatencyParam steering_latency_param = 22

  vehicle latency parameters

• optional LatencyParam throttle_latency_param = 23

• optional LatencyParam brake_latency_param = 24

Used in: canbus.Chassis, control.ControlCommand, external_command.ChassisCommand, planning.DecisionResult

• optional VehicleSignal.TurnSignal turn_signal = 1

• optional bool high_beam = 2

  lights enable command

• optional bool low_beam = 3

• optional bool horn = 4

• optional bool emergency_light = 5

Used in: VehicleSignal

• TURN_NONE = 0

• TURN_LEFT = 1

• TURN_RIGHT = 2

• TURN_HAZARD_WARNING = 3