Apollo 10.0
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ch.proto
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1syntax = "proto2";
2
3package apollo.canbus;
4
5// Coolhigh vehicle starts from here
7// Control Message
9 THROTTLE_PEDAL_EN_CTRL_DISABLE = 0;
10 THROTTLE_PEDAL_EN_CTRL_ENABLE = 1;
11 }
12 // throttle pedal enable bit(Command) [] [0|1]
13 optional Throttle_pedal_en_ctrlType throttle_pedal_en_ctrl = 1;
14 // Percentage of throttle pedal(Command) [%] [0|100]
15 optional int32 throttle_pedal_cmd = 2;
16}
17
19// Control Message
21 BRAKE_PEDAL_EN_CTRL_DISABLE = 0;
22 BRAKE_PEDAL_EN_CTRL_ENABLE = 1;
23 }
24 // brake pedal enable bit(Command) [] [0|1]
25 optional Brake_pedal_en_ctrlType brake_pedal_en_ctrl = 1;
26 // Percentage of brake pedal(Command) [%] [0|100]
27 optional int32 brake_pedal_cmd = 2;
28}
29
31// Control Message
33 STEER_ANGLE_EN_CTRL_DISABLE = 0;
34 STEER_ANGLE_EN_CTRL_ENABLE = 1;
35 }
36 // steering angle enable bit(Command) [] [0|1]
37 optional Steer_angle_en_ctrlType steer_angle_en_ctrl = 1;
38 // Current steering angle(Command) [radian] [-0.524|0.524]
39 optional double steer_angle_cmd = 2;
40}
41
43// Control Message
45 LOW_BEAM_CMD_OFF = 0;
46 LOW_BEAM_CMD_ON = 1;
47 }
49 TURN_SIGNAL_CMD_NONE = 0;
50 TURN_SIGNAL_CMD_LEFT = 1;
51 TURN_SIGNAL_CMD_RIGHT = 2;
52 TURN_SIGNAL_CMD_HAZARD_WARNING_LAMPSTS = 3;
53 }
54 // Lighting control(Command) [] [0|3]
55 optional Turn_signal_cmdType turn_signal_cmd = 1;
56 // Lighting control(Command) [] [0|1]
57 optional Low_beam_cmdType low_beam_cmd = 2;
58}
59
61// Control Message
63 GEAR_CMD_PARK = 1;
64 GEAR_CMD_REVERSE = 2;
65 GEAR_CMD_NEUTRAL = 3;
66 GEAR_CMD_DRIVE = 4;
67 }
68 // PRND control(Command) [] [1|4]
69 optional Gear_cmdType gear_cmd = 1;
70}
71
73 // Control Message
75 CTRL_CMD_OUT_OF_CONTROL = 0;
76 CTRL_CMD_UNDER_CONTROL = 1;
77 }
78 // Take control(Command) [] [0|1]
79 optional Ctrl_cmdType ctrl_cmd = 1;
80}
81
83// Control Message
85 VIN_REQ_CMD_VIN_REQ_DISABLE = 0;
86 VIN_REQ_CMD_VIN_REQ_ENABLE = 1;
87 }
88 // Request VIN(Command) [] [0|1]
89 optional Vin_req_cmdType vin_req_cmd = 1;
90}
91
93// Report Message
95 THROTTLE_PEDAL_EN_STS_DISABLE = 0;
96 THROTTLE_PEDAL_EN_STS_ENABLE = 1;
97 THROTTLE_PEDAL_EN_STS_TAKEOVER = 2;
98 }
100 DRIVE_MOTOR_ERR_NOERR = 0;
101 DRIVE_MOTOR_ERR_DRV_MOTOR_ERR = 1;
102 }
104 BATTERY_BMS_ERR_NOERR = 0;
105 BATTERY_BMS_ERR_BATTERY_ERR = 1;
106 }
107 // throttle pedal enable bit(Status) [] [0|2]
108 optional Throttle_pedal_en_stsType throttle_pedal_en_sts = 1;
109 // Percentage of throttle pedal(Status) [%] [0|100]
110 optional int32 throttle_pedal_sts = 2;
111 // [] [0|1]
112 optional Drive_motor_errType drive_motor_err = 3;
113 // [] [0|1]
114 optional Battery_bms_errType battery_bms_err = 4;
115}
116
118// Report Message
120 OVERSPD_ENV_NOENV = 0;
121 OVERSPD_ENV_OVERSPEED_ENV = 1;
122 }
124 BRAKE_PEDAL_EN_STS_DISABLE = 0;
125 BRAKE_PEDAL_EN_STS_ENABLE = 1;
126 BRAKE_PEDAL_EN_STS_TAKEOVER = 2;
127 }
129 BRAKE_ERR_NOERR = 0;
130 BRAKE_ERR_BRAKE_SYSTEM_ERR = 1;
131 }
133 EMERGENCY_BTN_ENV_NOENV = 0;
134 EMERGENCY_BTN_ENV_EMERGENCY_BUTTON_ENV = 1;
135 }
137 FRONT_BUMP_ENV_NOENV = 0;
138 FRONT_BUMP_ENV_FRONT_BUMPER_ENV = 1;
139 }
141 BACK_BUMP_ENV_NOENV = 0;
142 BACK_BUMP_ENV_BACK_BUMPER_ENV = 1;
143 }
145 BRAKE_LIGHT_ACTUAL_BRAKELIGHT_OFF = 0;
146 BRAKE_LIGHT_ACTUAL_BRAKELIGHT_ON = 1;
147 }
148
149 // brake pedal enable bit(Status) [] [0|2]
150 optional Brake_pedal_en_stsType brake_pedal_en_sts = 1;
151 // Percentage of brake pedal(Status) [%] [0|100]
152 optional int32 brake_pedal_sts = 2;
153 // [] [0|1]
154 optional Brake_errType brake_err = 3;
155 // [] [0|1]
156 optional Emergency_btn_envType emergency_btn_env = 4;
157 // [] [0|1]
158 optional Front_bump_envType front_bump_env = 5;
159 // [] [0|1]
160 optional Back_bump_envType back_bump_env = 6;
161 // [] [0|1]
162 optional Overspd_envType overspd_env = 7;
163 // [] [0|1]
164 optional Brake_light_actualType brake_light_actual = 8;
165}
166
168// Report Message
170 STEER_ANGLE_EN_STS_DISABLE = 0;
171 STEER_ANGLE_EN_STS_ENABLE = 1;
172 STEER_ANGLE_EN_STS_TAKEOVER = 2;
173 }
175 STEER_ERR_NOERR = 0;
176 STEER_ERR_STEER_MOTOR_ERR = 1;
177 }
179 SENSOR_ERR_NOERR = 0;
180 SENSOR_ERR_STEER_SENSOR_ERR = 1;
181 }
182 // steering angle enable bit(Status) [] [0|2]
183 optional Steer_angle_en_stsType steer_angle_en_sts = 1;
184 // Current steering angle(Status) [radian] [-0.524|0.524]
185 optional double steer_angle_sts = 2;
186 // [] [0|1]
187 optional Steer_errType steer_err = 3;
188 // [] [0|1]
189 optional Sensor_errType sensor_err = 4;
190}
191
193// Report Message
195 LOW_BEAM_STS_ON = 0;
196 LOW_BEAM_STS_OFF = 1;
197 }
199 TURN_SIGNAL_STS_NONE = 0;
200 TURN_SIGNAL_STS_LEFT = 1;
201 TURN_SIGNAL_STS_RIGHT = 2;
202 TURN_SIGNAL_STS_HAZARD_WARNING_LAMPSTS_ON = 3;
203 }
204 // Lighting control(Status) [] [0|3]
205 optional Turn_signal_stsType turn_signal_sts = 1;
206 // Lighting control(Status) [] [0|1]
207 optional Low_beam_stsType low_beam_sts = 2;
208}
209
211// Report Message
213 GEAR_STS_PARK = 1;
214 GEAR_STS_REVERSE = 2;
215 GEAR_STS_NEUTRAL = 3;
216 GEAR_STS_DRIVE = 4;
217 }
218 // PRND control(Status) [] [1|4]
219 optional Gear_stsType gear_sts = 1;
220}
221
223// Report Message
225 CTRL_STS_OUT_OF_CONTROL = 0;
226 CTRL_STS_UNDER_CONTROL = 1;
227 }
229 CHASSIS_MCU_ERR_NORMAL = 0;
230 CHASSIS_MCU_ERR_ERROR = 1;
231 }
233 CHASSIS_MCU_CAN_NORMAL = 0;
234 CHASSIS_MCU_CAN_ERROR = 1;
235 }
237 CHASSIS_HW_LOST_NORMAL = 0;
238 CHASSIS_HW_LOST_ERROR = 1;
239 }
241 CHASSIS_EPS_ERR_NORMAL = 0;
242 CHASSIS_EPS_ERR_ERROR = 1;
243 }
245 CHASSIS_EPS_CAN_NORMAL = 0;
246 CHASSIS_EPS_CAN_ERROR = 1;
247 }
249 CHASSIS_EHB_ERR_NORMAL = 0;
250 CHASSIS_EHB_ERR_ERROR = 1;
251 }
253 CHASSIS_EHB_CAN_NORMAL = 0;
254 CHASSIS_EHB_CAN_ERROR = 1;
255 }
257 CHASSIS_BMS_CAN_NORMAL = 0;
258 CHASSIS_BMS_CAN_ERROR = 1;
259 }
261 CHASSIS_ADS_ERR_NORMAL = 0;
262 CHASSIS_ADS_ERR_ADS_CAN_LOST = 1;
263 CHASSIS_ADS_ERR_ADS_CAN_RECOVERY = 2;
264 }
265 // Current speed (Steering status) [m/s] [-327.68|327.67]
266 optional double speed = 1;
267 // Current acceleration (Steering status) [m/s^2] [0|0]
268 optional double acc_speed = 2;
269 // Current Auto-mode state (Chassis status) [] [0|1]
270 optional Ctrl_stsType ctrl_sts = 3;
271 // Current chassis state (Chassis status) [] [0|255]
272 optional int32 chassis_sts = 4;
273 // Chassis error code (Chassis status) [] [0|65535]
274 optional int32 chassis_err = 5;
275 // [] [0|1]
276 optional Chassis_mcu_errType chassis_mcu_err = 6;
277 // [] [0|1]
278 optional Chassis_mcu_canType chassis_mcu_can = 7;
279 // [] [0|1]
280 optional Chassis_hw_lostType chassis_hw_lost = 8;
281 // [] [0|1]
282 optional Chassis_eps_errType chassis_eps_err = 9;
283 // [] [0|1]
284 optional Chassis_eps_canType chassis_eps_can = 10;
285 // [] [0|1]
286 optional Chassis_ehb_errType chassis_ehb_err = 11;
287 // [] [0|1]
288 optional Chassis_ehb_canType chassis_ehb_can = 12;
289 // [] [0|1]
290 optional Chassis_bms_canType chassis_bms_can = 13;
291 // Chassis error code (Chassis status) [] [0|2]
292 optional Chassis_ads_errType chassis_ads_err = 14;
293}
294
296// Report Message
297 // Percentage of battery remaining (BMS status) [%] [0|100]
298 optional int32 battery_soc = 1;
299 // Battery full capacity (BMS status) [Ah] [0|100]
300 optional int32 battery_capacity = 2;
301 // Current battery voltage (BMS status) [V] [0|80]
302 optional double battery_voltage = 3;
303 // Current battery current (BMS status) [A] [-60|60]
304 optional double battery_current = 4;
305 // Current battery temperature (BMS status) [℃] [-40|110]
306 optional int32 battery_temperature = 5;
307 // Battery Low Soc Warn [] [0|1]
308 optional bool is_battery_soc_low = 6;
309}
310
312// Report Message
313 // Ultrasonic detection distance 1 (Ultrasound status) [cm] [0|500]
314 optional double ultrasound_dist_1 = 1;
315 // Ultrasonic detection distance 2 (Ultrasound status) [cm] [0|500]
316 optional double ultrasound_dist_2 = 2;
317 // Ultrasonic detection distance 3 (Ultrasound status) [cm] [0|500]
318 optional double ultrasound_dist_3 = 3;
319 // Ultrasonic detection distance 4 (Ultrasound status) [cm] [0|500]
320 optional double ultrasound_dist_4 = 4;
321 // Ultrasonic detection distance 5 (Ultrasound status) [cm] [0|500]
322 optional double ultrasound_dist_5 = 5;
323 // Ultrasonic detection distance 6 (Ultrasound status) [cm] [0|500]
324 optional double ultrasound_dist_6 = 6;
325 // Ultrasonic detection distance 7 (Ultrasound status) [cm] [0|500]
326 optional double ultrasound_dist_7 = 7;
327 // Ultrasonic detection distance 8 (Ultrasound status) [cm] [0|500]
328 optional double ultrasound_dist_8 = 8;
329}
330
332// Report Message
333 // Ultrasonic detection distance 9 (Ultrasound status) [cm] [0|500]
334 optional double ultrasound_dist_9 = 1;
335 // Ultrasonic detection distance 10 (Ultrasound status) [cm] [0|500]
336 optional double ultrasound_dist_10 = 2;
337 // Ultrasonic detection distance 11 (Ultrasound status) [cm] [0|500]
338 optional double ultrasound_dist_11 = 3;
339 // Ultrasonic detection distance 12 (Ultrasound status) [cm] [0|500]
340 optional double ultrasound_dist_12 = 4;
341 // Ultrasonic detection distance 13 (Ultrasound status) [cm] [0|500]
342 optional double ultrasound_dist_13 = 5;
343 // Ultrasonic detection distance 14 (Ultrasound status) [cm] [0|500]
344 optional double ultrasound_dist_14 = 6;
345 // Ultrasonic detection distance 15 (Ultrasound status) [cm] [0|500]
346 optional double ultrasound_dist_15 = 7;
347 // Ultrasonic detection distance 16 (Ultrasound status) [cm] [0|500]
348 optional double ultrasound_dist_16 = 8;
349}
350
352// Report Message
353 // VIN Response [] [0|255] to char
354 optional string vin08 = 1;
355 // VIN Response [] [0|255] to char
356 optional string vin07 = 2;
357 // VIN Response [] [0|255] to char
358 optional string vin06 = 3;
359 // VIN Response [] [0|255] to char
360 optional string vin05 = 4;
361 // VIN Response [] [0|255] to char
362 optional string vin04 = 5;
363 // VIN Response [] [0|255] to char
364 optional string vin03 = 6;
365 // VIN Response [] [0|255] to char
366 optional string vin02 = 7;
367 // VIN Response [] [0|255] to char
368 optional string vin01 = 8;
369}
370
372// Report Message
373 // VIN Response [] [0|0] to char
374 optional string vin16 = 1;
375 // VIN Response [] [0|0] to char
376 optional string vin15 = 2;
377 // VIN Response [] [0|0] to char
378 optional string vin14 = 3;
379 // VIN Response [] [0|0] to char
380 optional string vin13 = 4;
381 // VIN Response [] [0|0] to char
382 optional string vin12 = 5;
383 // VIN Response [] [0|0] to char
384 optional string vin11 = 6;
385 // VIN Response [] [0|0] to char
386 optional string vin10 = 7;
387 // VIN Response [] [0|0] to char
388 optional string vin09 = 8;
389}
390
392// Report Message
393 // VIN Response [] [0|0] to char
394 optional string vin17 = 1;
395}
396
398// Report Message
399 // wheel speed rear right [m/s] [-327.68|327.67]
400 optional double rr = 1;
401 // wheel speed rear left [m/s] [-327.68|327.67]
402 optional double rl = 2;
403 // wheel speed front right [m/s] [-327.68|327.67]
404 optional double fr = 3;
405 // wheel speed front left [m/s] [-327.68|327.67]
406 optional double fl = 4;
407}
408
409message Ch {
410 optional Throttle_command_110 throttle_command_110 = 1; // control message
411 optional Brake_command_111 brake_command_111 = 2; // control message
412 optional Steer_command_112 steer_command_112 = 3; // control message
413 optional Turnsignal_command_113 turnsignal_command_113 = 4; // control message
414 optional Gear_command_114 gear_command_114 = 5; // control message
415 optional Control_command_115 control_command_115 = 6 [deprecated = true]; // control message
416 optional Throttle_status__510 throttle_status__510 = 7; // report message
417 optional Brake_status__511 brake_status__511 = 8; // report message
418 optional Steer_status__512 steer_status__512 = 9; // report message
419 optional Turnsignal_status__513 turnsignal_status__513 = 10; // report message
420 optional Gear_status_514 gear_status_514 = 11; // report message
421 optional Ecu_status_1_515 ecu_status_1_515 = 12; // report message
422 optional Ecu_status_2_516 ecu_status_2_516 = 13; // report message
423 optional Ecu_status_3_517 ecu_status_3_517 = 14; // report message
424 optional Ecu_status_4_518 ecu_status_4_518 = 15; // report message
425 optional Vehicle_mode_command_116 vehicle_mode_command_116 = 16; // control message
426 optional Vin_resp1_51b vin_resp1_51b = 17; // report message
427 optional Vin_resp2_51c vin_resp2_51c = 18; // report message
428 optional Vin_resp3_51d vin_resp3_51d = 19; // report message
429 optional Wheelspeed_report_51e wheelspeed_report_51e = 20; // report message
430}
syntax
Definition ch.proto:1