scenario.proto

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syntax = "proto2";
 
package apollo.simulation;
 
import "modules/common_msgs/simulation_msgs/agent.proto";
import "modules/common_msgs/simulation_msgs/grading_metric.proto";
 
import "modules/common_msgs/perception_msgs/traffic_light_detection.proto";
import "modules/common_msgs/planning_msgs/pad_msg.proto";
import "modules/common_msgs/routing_msgs/routing.proto";
 
message FuzzingConfig {}
 
message DriveActionConfig {
  optional apollo.planning.PadMessage.DrivingAction drive_action = 1 [default = NONE];
  optional double trigger_time = 2 [default = 0.0];
}
 
message Scenario {
  optional string name = 1;
  optional string description = 2;
 
  message Point {
    optional double x = 1;
    optional double y = 2;
    optional double heading = 3;
    // TODO: add lane-id and ratio.
  }
  // Only use in WorldSim.
  optional Point start = 3;
  optional Point end = 4;
  optional Point parking_point = 5;
 
  // Only use in LogSim
  repeated string origin_log_file_path = 6;
  optional double log_file_start_time = 7;
  optional double log_file_end_time = 8;
 
  // This is used if 1) the logsim bag does not contain one.
  // 2) the worldsim has different start pose for routing and ego car.
  optional apollo.routing.RoutingRequest routing_request = 9;
 
  // map dir, only used in offline env
  optional string map_dir = 10;
 
  // metric specific to the scenario.
  optional GradingConfig grade_config = 11;
 
  // agent type
  repeated AgentConfig agent = 12;
  // a sequence of driving actions
  repeated DriveActionConfig drive_action_config = 13;
  optional FuzzingConfig fuzzing_config = 14;
 
  // Only use in WorldSim. Max time before stop running the scenario.
  optional int32 simulator_time = 15;
 
  // Initial velocity and acceleration of the main vehicle
  optional double start_velocity = 16 [default = 0.0];
  optional double start_acceleration = 17 [default = 0.0];
 
  // file path to its base metric config
  optional string base_grade_config_file = 18;
 
  // Traffic light detection distance.
  optional double detect_distance = 19 [default = 120.0];
 
  enum DefaultLightBehavior {
    ALWAYS_GREEN = 0;
    CYCLICAL = 1;  // Traffic lights change by red -> green -> yellow cycles.
  }
  optional DefaultLightBehavior default_light_behavior = 20
      [default = ALWAYS_GREEN];
  optional double red_time = 21 [default = 15.0];
  optional double green_time = 22 [default = 13.0];
  optional double yellow_time = 23 [default = 3.0];
 
  message TL {
    optional string id = 1;
    message Location {
      optional double x = 1;
      optional double y = 2;
      optional double z = 3;
    }
    optional Location location = 2;
 
    enum TriggerType {
      NA = 0;  // The traffic light will stay in initial_state.
      DISTANCE = 1;
      TIME = 2;
    }
    optional TriggerType trigger_type = 3 [default = NA];
    // Trigger Distance or Trigger Time
    optional double trigger_value = 4 [default = 30.0];
 
    message State {
      optional apollo.perception.TrafficLight.Color color = 1 [default = GREEN];
      optional bool blink = 2 [default = false];
      optional double keep_time = 3 [default = 10.0];
    }
    optional State initial_state = 5;
    repeated State state_group = 6;
  }
  // The overriden traffic lights behavior
  repeated TL traffic_lights = 24;
 
  // The scenario should be run in one of the modes.
  enum Mode {
    WORLDSIM = 0;
    LOGSIM = 1;
    LOGSIM_CONTROL = 2;
    LOGSIM_PERCEPTION = 3;
  }
  optional Mode mode = 25 [default = WORLDSIM];
 
  repeated string select_default_metric = 26;
  repeated string deselect_default_metric = 27;
 
  // The backtrack time to start running perfect_control once a disengage is
  // detected.
  optional double backtrack_time = 28 [default = 1.0];
 
  // Only use in LogSim
  optional string vehicle = 29;
 
  // Only use in worldsim for special scenario conf use multi agent server
  optional bool traffic_flow = 30 [default = false];
}