Apollo 10.0
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adapter_config.proto
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1syntax = "proto2";
2
3package apollo.common.adapter;
4
5// Property of a certain Input/Output that will be used by a module.
6message AdapterConfig {
8 POINT_CLOUD = 1;
9 VLP16_POINT_CLOUD = 58;
10 GPS = 2;
11 IMU = 3;
12 CHASSIS = 4;
13 LOCALIZATION = 5;
14 PLANNING_TRAJECTORY = 6;
15 MONITOR = 7;
16 PAD = 8;
17 CONTROL_COMMAND = 9;
18 CHASSIS_COMMAND = 76;
19 PREDICTION = 10;
20 PERCEPTION_OBSTACLES = 11;
21 TRAFFIC_LIGHT_DETECTION = 12;
22 CHASSIS_DETAIL = 13;
23 DECISION = 14 [deprecated = true];
24 CANBUS = 15;
25 ROUTING_REQUEST = 16;
26 ROUTING_RESPONSE = 17;
27 RELATIVE_ODOMETRY = 18;
28 INS_STAT = 19;
29 HMI_COMMAND = 20 [deprecated = true];
30 MOBILEYE = 21;
31 DELPHIESR = 22;
32 COMPRESSED_IMAGE = 23;
33 SYSTEM_STATUS = 24;
34 INS_STATUS = 25;
35 GNSS_STATUS = 26;
36 CONTI_RADAR = 27;
37 IMAGE_SHORT = 28;
38 IMAGE_LONG = 29;
39 DRIVE_EVENT = 30;
40 GNSS_RTK_OBS = 31;
41 GNSS_RTK_EPH = 32;
42 GNSS_BEST_POSE = 33;
43 LOCALIZATION_MSF_GNSS = 34;
44 LOCALIZATION_MSF_LIDAR = 35;
45 LOCALIZATION_MSF_SINS_PVA = 36;
46 RAW_IMU = 37;
47 LOCALIZATION_MSF_STATUS = 38;
48 STATIC_INFO = 39;
49 RELATIVE_MAP = 40;
50 NAVIGATION = 41;
51 ULTRASONIC_RADAR = 42;
52 AUDIO_CAPTURE = 43;
53 IMAGE_FRONT = 45;
54 PANDORA_POINT_CLOUD = 46;
55 PANDORA_CAMERA_FRONT_COLOR = 47;
56 PANDORA_CAMERA_RIGHT_GRAY = 48;
57 PANDORA_CAMERA_LEFT_GRAY = 49;
58 PANDORA_CAMERA_FRONT_GRAY = 50;
59 PANDORA_CAMERA_BACK_GRAY = 51;
60 PERCEPTION_LANE_MASK = 52;
61 GUARDIAN = 53;
62 GNSS_RAW_DATA = 54;
63 STREAM_STATUS = 55;
64 GNSS_HEADING = 56;
65 RTCM_DATA = 57;
66 RACOBIT_RADAR = 59;
67 // velodyne fusion configs
68 POINT_CLOUD_DENSE = 60;
69 POINT_CLOUD_DENSE_RAW = 61;
70 VELODYNE_SCAN_DENSE = 62;
71
72 POINT_CLOUD_SPARSE_1 = 63;
73 POINT_CLOUD_SPARSE_RAW_1 = 64;
74 VELODYNE_SCAN_SPARSE_1 = 65;
75
76 POINT_CLOUD_SPARSE_2 = 66;
77 POINT_CLOUD_SPARSE_RAW_2 = 67;
78 VELODYNE_SCAN_SPARSE_2 = 68;
79
80 POINT_CLOUD_SPARSE_3 = 69;
81 POINT_CLOUD_SPARSE_RAW_3 = 70;
82 VELODYNE_SCAN_SPARSE_3 = 71;
83
84 CAMERA_IMAGE_LONG = 72;
85 CAMERA_IMAGE_SHORT = 73;
86
87 PLANNING_PAD = 74;
88
89 STORYTELLING = 75;
90 }
91 enum Mode {
92 RECEIVE_ONLY = 0;
93 PUBLISH_ONLY = 1;
94 DUPLEX = 2;
95 }
96 optional MessageType type = 1;
97 optional Mode mode = 2;
98 // The max number of received messages to keep in the adapter, this field
99 // is not useful for PUBLISH_ONLY mode messages.
100 optional int32 message_history_limit = 3 [default = 10];
101 optional bool latch = 4 [default = false];
102 optional string topic = 5;
103}
104
105// A config to specify which messages a certain module would consume and
106// produce.
108 repeated AdapterConfig config = 1;
109 // TODO
110 optional bool is_ros = 2; // Whether the message comes from ROS
111}