config.proto

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syntax = "proto2";
 
package apollo.drivers.gnss.config;
 
import "modules/common_msgs/drivers_msgs/can_card_parameter.proto";
 
message Stream {
  enum Format {
    UNKNOWN = 0;
    NMEA = 1;
    RTCM_V2 = 2;
    RTCM_V3 = 3;
 
    NOVATEL_TEXT = 10;
    NOVATEL_BINARY = 11;
 
    HUACE_TEXT = 12;
    HUACE_CAN = 13;
 
    ASENSING_TEXT = 14;
    ASENSING_BINARY = 15;
 
    UBLOX_TEXT = 20;
    UBLOX_BINARY = 21;
 
    BROADGNSS_TEXT = 30;
    BROADGNSS_BINARY = 31;
  }
  optional Format format = 1;
 
  message Serial {
    optional bytes device = 1;  // Something like "/dev/ttyXXX".
    optional int32 baud_rate = 2 [default = 9600];
    // In general, we assumes no parity, 8 data bits, 1 stop bit, no
    // handshaking, break detection enabled. If not, add more fields here.
  }
 
  message Tcp {
    optional bytes address = 1;  // Something like "192.168.10.6".
    optional int32 port = 2 [default = 3001];
  }
 
  message Udp {
    optional bytes address = 1;  // Something like "192.168.10.6".
    optional int32 port = 2 [default = 3001];
  }
 
  message Ntrip {
    optional bytes address = 1;  // Something like "1.1.1.1".
    optional int32 port = 2 [default = 2101];
    optional bytes mount_point = 3;  // Something like "demo".
    optional bytes user = 4;
    optional bytes password = 5;
    optional uint32 timeout_s = 6 [default = 30];
  }
 
  oneof type {
    Serial serial = 2;
    Tcp tcp = 3;
    Udp udp = 4;
    Ntrip ntrip = 5;
    apollo.drivers.canbus.CANCardParameter can_card_parameter = 6;
  }
  optional bool push_location = 7;
}
 
// Device-specific configuration.
message NovatelConfig {
  // See Page 75 of SPAN on OEM6 Firmware Reference Manual for details.
  optional int32 imu_orientation = 1 [default = 5];
}
 
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
  CPT_XW5651 = 40;     // IMU@SPAN-CPT, and XingWangYuda 5651
  G320N = 41;          // EPSON G320N
  UM442 = 42;          // UM442
  IAM20680 = 57;       // InvenSense-IAM20680
}
 
message TF {
  optional string frame_id = 1 [default = "world"];
  optional string child_frame_id = 2 [default = "novatel"];
  optional bool enable = 3 [default = false];
}
 
message Config {
  // The driver reads data from this port. This port should always be provided.
  optional Stream data = 1;
 
  // If given, the driver sends commands to this port. If not given, the driver
  // sends commands to the data port.
  optional Stream command = 2;
 
  // The driver gets RTK correction data from this remote port. Usually this is
  // an NTRIP port.
  optional Stream rtk_from = 3;
 
  // If given, the driver sends RTK correction data to this port. If not given,
  // the driver sends RTK correction data to the data port.
  optional Stream rtk_to = 4;
 
  repeated bytes login_commands = 5;
 
  repeated bytes logout_commands = 6;
 
  oneof device_config {
    NovatelConfig novatel_config = 7;
    UbloxConfig ublox_config = 8;
  }
 
  enum RtkSolutionType {
    RTK_RECEIVER_SOLUTION = 1;
    RTK_SOFTWARE_SOLUTION = 2;
  }
  optional RtkSolutionType rtk_solution_type = 9;
  optional ImuType imu_type = 10;
  optional string proj4_text = 11;
  optional TF tf = 12;
  // If given, the driver will send velocity info to novatel with command stream
  optional string wheel_parameters = 13;
  optional string gpsbin_folder = 14;
  optional bool use_gnss_time = 15 [default = true];
}