control_debug.proto

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syntax = "proto2";
 
package apollo.control;
 
import "modules/common_msgs/control_msgs/control_cmd.proto";
import "modules/common_msgs/control_msgs/control_interactive_msg.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/control/control_component/proto/check_status.proto";
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
import "modules/common_msgs/routing_msgs/geometry.proto";
 
message ControlDebugInfo {
  optional apollo.common.Header header = 1;
  optional SimpleLongitudinalPlusDebug simple_lon_debug = 2;
  optional SimpleLateralPlusDebug simple_lat_debug = 3;
  optional SimpleMPCPlusDebug simple_mpc_debug = 4;
  optional SimpleAntiSlopeDebug simple_anti_slope_debug = 5;
  optional CleaningSafetyCheckDebug cleaning_safety_check_debug = 6;
  optional ControlComponentDebug control_component_debug = 7;
  optional ReplanDebug replan_debug = 8;
}
 
message ControlComponentDebug {
  optional double vehicle_pitch = 1;
  optional bool is_auto = 2;
  optional bool from_else_to_auto = 3;
  optional double process_control_time_diff = 4;
  optional bool process_control_exceeded = 5;
}
 
message SimpleLongitudinalPlusDebug {
  optional double station_reference = 1;
  optional double station_error = 2;
  optional double station_error_limited = 3;
  optional double preview_station_error = 4;
  optional double speed_reference = 5;
  optional double speed_error = 6;
  optional double speed_controller_input_limited = 7;
  optional double preview_speed_reference = 8;
  optional double preview_speed_error = 9;
  optional double preview_acceleration_reference = 10;
  optional double acceleration_cmd_closeloop = 11;
  optional double acceleration_cmd = 12;
  optional double acceleration_lookup = 13;
  optional double speed_lookup = 14;
  optional double calibration_value = 15;
  optional double throttle_cmd = 16;
  optional double brake_cmd = 17;
  optional bool is_full_stop = 18;
  optional double slope_offset_compensation = 19;
  optional double current_station = 20;
  optional double path_remain = 21;
  optional int32 pid_saturation_status = 22;
  optional int32 leadlag_saturation_status = 23;
  optional double speed_offset = 24;
  optional double current_speed = 25;
  optional double acceleration_reference = 26;
  optional double current_acceleration = 27;
  optional double acceleration_error = 28;
  optional double jerk_reference = 29;
  optional double current_jerk = 30;
  optional double jerk_error = 31;
  optional apollo.common.TrajectoryPoint current_matched_point = 32;
  optional apollo.common.TrajectoryPoint current_reference_point = 33;
  optional apollo.common.TrajectoryPoint preview_reference_point = 34;
  optional double acceleration_lookup_limit = 35;
  optional double vehicle_pitch = 36;
  optional bool is_epb_brake = 37;
  optional double current_steer_interval = 38;
  optional bool is_wait_steer = 39;
  optional bool is_stop_reason_by_destination = 40;
  optional bool is_stop_reason_by_prdestrian = 41;
  optional bool is_full_stop_soft = 42;
  optional string control_task_name = 43;
  optional double path_remain_add = 44;
  optional double max_path_remain_when_stopped = 45;
  optional bool form_go_to_full_stop = 46;
  optional bool begin_end_brake = 47;
  optional double hillup_fullstop_brake_rate = 48;
  optional double vehicle_speed = 49;
  optional double vehicle_speed_filter = 50;
  optional double throttle_cmd_filter = 51;
}
 
message SimpleLateralPlusDebug {
  optional double lateral_error = 1;
  optional double ref_heading = 2;
  optional double heading = 3;
  optional double heading_error = 4;
  optional double heading_error_rate = 5;
  optional double lateral_error_rate = 6;
  optional double curvature = 7;
  optional double steer_angle = 8;
  optional double steer_angle_feedforward = 9;
  optional double steer_angle_lateral_contribution = 10;
  optional double steer_angle_lateral_rate_contribution = 11;
  optional double steer_angle_heading_contribution = 12;
  optional double steer_angle_heading_rate_contribution = 13;
  optional double steer_angle_feedback = 14;
  optional double steering_position = 15;
  optional double ref_speed = 16;
  optional double steer_angle_limited = 17;
 
  // time derivative of lateral error rate, in m/s^2
  optional double lateral_acceleration = 18;
  // second time derivative of lateral error rate, in m/s^3
  optional double lateral_jerk = 19;
 
  optional double ref_heading_rate = 20;
  optional double heading_rate = 21;
 
  // heading_acceleration, as known as yaw acceleration, is the time derivative
  // of heading rate,  in rad/s^2
  optional double ref_heading_acceleration = 22;
  optional double heading_acceleration = 23;
  optional double heading_error_acceleration = 24;
 
  // heading_jerk, as known as yaw jerk, is the second time derivative of
  // heading rate, in rad/s^3
  optional double ref_heading_jerk = 25;
  optional double heading_jerk = 26;
  optional double heading_error_jerk = 27;
 
  // modified lateral_error and heading_error with look-ahead or look-back
  // station, as the feedback term for control usage
  optional double lateral_error_feedback = 28;
  optional double heading_error_feedback = 29;
 
  // current planning target point
  optional apollo.common.TrajectoryPoint current_target_point = 30;
 
  // Augmented feedback control term in addition to LQR control
  optional double steer_angle_feedback_augment = 31;
 
  // Mrac control status and feedback states for steer control
  optional MracDebug steer_mrac_debug = 32;
  optional bool steer_mrac_enable_status = 33;
 
  // lat acc in ENU, in m/s^2
  optional double lateral_centripetal_acceleration = 34;
  optional string control_task_name = 35;
 
  // lat control check
  optional ControlCheckDebug lat_control_check_debug = 36;
 
  // openspace rate
  optional double efai_rate = 37;
  optional double ed_rate = 38;
 
  // heading error debug
  optional double heading_error_by_ref = 39;
  optional double heading_error_by_auto_compensation = 40;
  optional AHCValue ahc_value = 41;
 
  optional bool is_lock_steer = 42;
 
  // look ahead back control debug
  optional apollo.common.TrajectoryPoint lookahead_point = 43;
  optional double lookahead_station = 44;
  optional double lookback_station = 45;
  optional double lookahead_time = 46;
  optional double lookahead_station_s_diff = 47;
  optional apollo.common.TrajectoryPoint lookahead_point_new = 48;
  optional apollo.common.TrajectoryPoint lookback_point_new = 49;
  optional double lookahead_time_new = 50;
  optional double lookahead_station_s_diff_new = 51;
  optional double lateral_error_feedback_new = 52;
  optional double heading_error_feedback_new = 53;
  optional bool enable_look_ahead_back_control = 54;
 
  // lat localization com position
  optional apollo.common.PointENU lat_com_position = 55;
 
  optional bool is_in_large_curvature = 56;
 
  optional apollo.common.TrajectoryPoint target_point_lr = 57;
  optional apollo.common.TrajectoryPoint matched_point_com = 58;
  optional apollo.common.TrajectoryPoint matched_point_local = 59;
  optional apollo.common.TrajectoryPoint absolute_point_local = 60;
 
  optional double lateral_error_target_lr = 61;
  optional double heading_error_target_lr = 62;
  optional double curvature_target_lr = 63;
 
  optional double lateral_error_target_com = 64;
  optional double heading_error_target_com = 65;
  optional double curvature_target_com = 66;
 
  optional double lateral_error_match_com = 67;
  optional double heading_error_match_com = 68;
  optional double curvature_match_com = 69;
 
  optional double lateral_error_match_local = 70;
  optional double heading_error_match_local = 71;
  optional double curvature_match_local = 72;
 
  optional double lateral_error_absolute_local = 73;
  optional double heading_error_absolute_local = 74;
  optional double curvature_absolute_local = 75;
 
  optional int32 now_reverse_stage = 76;
  optional int32 current_choose_point = 77;
  repeated double continous_lateral_errors = 78;
  repeated double continous_heading_errors = 79;
 
  optional double com_length = 80;
  optional double lr = 81;
  // lat localization lr position
  optional apollo.common.PointENU lat_lr_position = 82;
  optional double lookback_time_new = 83;
  optional double lookback_station_s_diff_new = 84;
  optional double lookahead_curvature = 85;
  optional double lookahead_curvature_new = 86;
  optional double lookback_curvature_new = 87;
 
  optional double lateral_error_lqr_input = 88;
  optional double heading_error_lqr_input = 89;
  optional double lqr_iteration_num = 90;
  optional double lqr_result_diff = 91;
  optional double com_change = 92;
  optional int32 current_sign = 93;
  optional int32 current_min_error_point = 94;
 
  // track point debug
  optional apollo.common.PointENU lat_track_com_position = 95;
  optional apollo.common.TrajectoryPoint track_point_com = 96;
  optional double lateral_error_track_com = 97;
  optional double heading_error_track_com = 98;
 
  optional double lateral_error_lqr_input_change = 99;
  optional double heading_error_lqr_input_change = 100;
  optional double curvature_change = 101;
}
 
message AHCValue {
  optional double ahc_sum = 1;
  optional double ahc_mean = 2;
  optional double ahc_peak = 3;
  optional double ahc_compensating_value = 4;
  optional double ahc_compensated_value = 5;
  optional bool ahc_is_compensating = 6;
  optional double compensation_output_value = 7;
}
 
message SimpleMPCPlusDebug {
  optional double lateral_error = 1;
  optional double ref_heading = 2;
  optional double heading = 3;
  optional double heading_error = 4;
  optional double heading_error_rate = 5;
  optional double lateral_error_rate = 6;
  optional double curvature = 7;
  optional double steer_angle = 8;
  optional double steer_angle_feedforward = 9;
  optional double steer_angle_lateral_contribution = 10;
  optional double steer_angle_lateral_rate_contribution = 11;
  optional double steer_angle_heading_contribution = 12;
  optional double steer_angle_heading_rate_contribution = 13;
  optional double steer_angle_feedback = 14;
  optional double steering_position = 15;
  optional double ref_speed = 16;
  optional double steer_angle_limited = 17;
  optional double station_reference = 18;
  optional double station_error = 19;
  optional double speed_reference = 20;
  optional double speed_error = 21;
  optional double acceleration_reference = 22;
  optional bool is_full_stop = 23;
  optional double station_feedback = 24;
  optional double speed_feedback = 25;
  optional double acceleration_cmd_closeloop = 26;
  optional double acceleration_cmd = 27;
  optional double acceleration_lookup = 28;
  optional double speed_lookup = 29;
  optional double calibration_value = 30;
  optional double steer_unconstrained_control_diff = 31;
  optional double steer_angle_feedforward_compensation = 32;
  repeated double matrix_q_updated = 33;  // matrix_q_updated_ size = 6
  repeated double matrix_r_updated = 34;  // matrix_r_updated_ size = 2
 
  // time derivative of lateral error rate, in m/s^2
  optional double lateral_acceleration = 35;
  // second time derivative of lateral error rate, in m/s^3
  optional double lateral_jerk = 36;
 
  optional double ref_heading_rate = 37;
  optional double heading_rate = 38;
 
  // heading_acceleration, as known as yaw acceleration, is the time derivative
  // of heading rate,  in rad/s^2
  optional double ref_heading_acceleration = 39;
  optional double heading_acceleration = 40;
  optional double heading_error_acceleration = 41;
 
  // heading_jerk, as known as yaw jerk, is the second time derivative of
  // heading rate, in rad/s^3
  optional double ref_heading_jerk = 42;
  optional double heading_jerk = 43;
  optional double heading_error_jerk = 44;
 
  optional double acceleration_feedback = 45;
  optional double acceleration_error = 46;
  optional double jerk_reference = 47;
  optional double jerk_feedback = 48;
  optional double jerk_error = 49;
 
  // modified lateral_error and heading_error with look-ahead or look-back
  // station, as the feedback term for control usage
  optional double lateral_error_feedback = 50;
  optional double heading_error_feedback = 51;
  // Augmented feedback control term in addition to MPC control
  optional double steer_angle_feedback_augment = 52;
  optional apollo.common.TrajectoryPoint current_matched_point = 53;
  optional apollo.common.TrajectoryPoint current_reference_point = 54;
  optional apollo.common.TrajectoryPoint preview_reference_point = 55;
  optional double preview_station_error = 56;
  optional double preview_speed_reference = 57;
  optional double preview_speed_error = 58;
  optional double preview_acceleration_reference = 59;
  optional double vehicle_pitch = 60;
  optional double slope_offset_compensation = 61;
  optional double path_remain = 62;
  optional double acceleration_lookup_offset = 63;
  optional double acceleration_vrf = 64;
  optional string control_task_name = 65;
}
 
message ControlCheckDebug {
  optional ControlCheckStatus lateral_error_check_result = 1;
  optional uint32 lateral_error_check_e_count = 2;
  optional uint32 lateral_error_check_w_count = 3;
  optional ControlCheckStatus heading_error_check_result = 4;
  optional uint32 heading_error_check_e_count = 5;
  optional uint32 heading_error_check_w_count = 6;
  optional ControlCheckStatus station_error_check_result = 7;
  optional uint32 station_error_check_e_count = 8;
  optional uint32 station_error_check_w_count = 9;
  optional ControlCheckStatus speed_error_check_result = 10;
  optional uint32 speed_error_check_e_count = 11;
  optional uint32 speed_error_check_w_count = 12;
  optional double lateral_error_e = 13;
  optional double lateral_error_w = 14;
  optional double heading_error_e = 15;
  optional double heading_error_w = 16;
}
 
message SimpleAntiSlopeDebug {
  optional int32 hill_start_window = 1;
  optional int32 preview_length = 2;
  optional double quit_hill_start_speed = 3;
  optional double normal_start_tartget_acc = 4;
  optional bool in_hill_start_condition = 5;
  optional bool in_normal_start_condition = 6;
  optional double hill_start_acc_gain_rate = 7;
  optional double normal_start_acc_gain_rate = 8;
  optional bool on_obstacle = 9;
  optional bool from_else_to_auto = 10;
  optional bool previous_is_auto = 11;
  optional double anti_cmd_brake = 12;
  optional double anti_cmd_throttle = 13;
  optional bool uphill_too_fast = 14;
  optional bool only_use_brk_downhill = 15;
  optional bool erase_brk_in_go = 16;
  optional bool erase_brk_in_end = 17;
  optional double hill_start_first_acc = 18;
  optional double slope_start_acc = 19;
  optional double slope_offset_compensation = 20;
  optional double calibration_value_anti = 21;
  optional double anti_acc_lookup = 22;
  optional string anti_stage = 23;
}
 
message CleaningSafetyCheckDebug {
  optional string control_task_name = 1;
  optional bool is_need_post_command = 2;
  optional ControlCheckDebug cleaning_control_check_debug = 3;
  optional apollo.common.TrajectoryPoint current_predicted_end_point = 4;
  repeated apollo.common.TrajectoryPoint predicted_trajectory_point = 5;
  optional bool is_predicted_collsion = 6;
  optional apollo.perception.PerceptionEdgeInfo edge_info = 7;
  optional double post_process_throttle_cmd = 8;
  optional double post_process_brake_cmd = 9;
  optional bool is_in_large_curvature = 10;
}
 
message ReplanDebug {
  optional string control_task_name = 1;
  optional bool trajectory_replan = 2;
  optional bool is_need_replan = 3;
  optional ReplanRequestReasonCode replan_req_reason_code = 4;
}