action_command.proto

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syntax = "proto2";
 
package apollo.external_command;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
enum ActionCommandType {
  // Follow the current lane.
  FOLLOW = 1;
  // Change to the laft lane.
  CHANGE_LEFT = 2;
  // Change to the right lane.
  CHANGE_RIGHT = 3;
  // Pull over and stop driving.
  PULL_OVER = 4;
  // Stop driving smoothly in emergency case.
  STOP = 5;
  // Start driving after paused.
  START = 6;
  // Clear the input planning command to cancel planning.
  CLEAR_PLANNING = 7;
  // Switch to manual drive mode.
  SWITCH_TO_MANUAL = 50;
  // Switch to auto drive mode.
  SWITCH_TO_AUTO = 51;
  // Varify vin code of vehicle.
  VIN_REQ = 52;
  // Enter mission model
  ENTER_MISSION = 53;
  // Exit mission model
  EXIT_MISSION = 54;
}
 
message ActionCommand {
  optional apollo.common.Header header = 1;
  // Unique identification for command.
  optional int64 command_id = 2 [default = -1];
  // The action command.
  required ActionCommandType command = 3;
}