Apollo 10.0
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demo.proto
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1syntax = "proto2";
2
3package apollo.canbus;
4
6// Control Message
8 THROTTLE_EN_CTRL_DISABLE = 0;
9 THROTTLE_EN_CTRL_ENABLE = 1;
10 }
11 // [] [0|15]
12 optional int32 heartbeat_100 = 1;
13 // [m/s] [0|40.95]
14 optional double speed_target = 2;
15 // [m/s^2] [0|10]
16 optional double throttle_acc = 3;
17 // [] [0|255]
18 optional int32 checksum_100 = 4;
19 // command [%] [0|100]
20 optional double throttle_pedal_target = 5;
21 // enable [] [0|1]
22 optional Throttle_en_ctrlType throttle_en_ctrl = 6;
23}
24
26// Control Message
28 AEB_EN_CTRL_DISABLE_AEB = 0;
29 AEB_EN_CTRL_ENABLE_AEB = 1;
30 }
32 BRAKE_EN_CTRL_DISABLE = 0;
33 BRAKE_EN_CTRL_ENABLE = 1;
34 }
35 // [] [0|15]
36 optional int32 heartbeat_101 = 1;
37 // [] [0|0]
38 optional Aeb_en_ctrlType aeb_en_ctrl = 2;
39 // [m/s^2] [0|10]
40 optional double brake_dec = 3;
41 // [] [0|255]
42 optional int32 checksum_101 = 4;
43 // command [%] [0|100]
44 optional double brake_pedal_target = 5;
45 // enable [] [0|1]
46 optional Brake_en_ctrlType brake_en_ctrl = 6;
47}
48
50// Control Message
52 STEER_EN_CTRL_DISABLE = 0;
53 STEER_EN_CTRL_ENABLE = 1;
54 }
55 // [] [0|15]
56 optional int32 heartbeat_102 = 1;
57 // enable [] [0|1]
58 optional Steer_en_ctrlType steer_en_ctrl = 2;
59 // command [deg] [-500|500]
60 optional int32 steer_angle_target = 3;
61 // [deg/s] [0|250]
62 optional int32 steer_angle_spd_target = 4;
63 // [] [0|255]
64 optional int32 checksum_102 = 5;
65}
66
68// Control Message
70 GEAR_TARGET_INVALID = 0;
71 GEAR_TARGET_PARK = 1;
72 GEAR_TARGET_REVERSE = 2;
73 GEAR_TARGET_NEUTRAL = 3;
74 GEAR_TARGET_DRIVE = 4;
75 }
77 GEAR_EN_CTRL_DISABLE = 0;
78 GEAR_EN_CTRL_ENABLE = 1;
79 }
80 // [] [0|15]
81 optional int32 heartbeat_103 = 1;
82 // command [] [0|4]
83 optional Gear_targetType gear_target = 2;
84 // enable [] [0|1]
85 optional Gear_en_ctrlType gear_en_ctrl = 3;
86 // [] [0|255]
87 optional int32 checksum_103 = 4;
88}
89
91// Control Message
93 PARK_TARGET_RELEASE = 0;
94 PARK_TARGET_PARKING_TRIGGER = 1;
95 }
97 PARK_EN_CTRL_DISABLE = 0;
98 PARK_EN_CTRL_ENABLE = 1;
99 }
100 // [] [0|15]
101 optional int32 heartbeat_104 = 1;
102 // [] [0|255]
103 optional int32 checksum_104 = 2;
104 // command [] [0|1]
105 optional Park_targetType park_target = 3;
106 // enable [] [0|1]
107 optional Park_en_ctrlType park_en_ctrl = 4;
108}
109
111// Control Message
113 TURN_LIGHT_CTRL_TURNLAMP_OFF = 0;
114 TURN_LIGHT_CTRL_LEFT_TURNLAMP_ON = 1;
115 TURN_LIGHT_CTRL_RIGHT_TURNLAMP_ON = 2;
116 TURN_LIGHT_CTRL_HAZARD_WARNING_LAMPSTS_ON = 3;
117 }
119 VIN_REQ_VIN_REQ_DISABLE = 0;
120 VIN_REQ_VIN_REQ_ENABLE = 1;
121 }
123 DRIVE_MODE_CTRL_THROTTLE_PADDLE_DRIVE = 0;
124 DRIVE_MODE_CTRL_SPEED_DRIVE = 1;
125 }
127 STEER_MODE_CTRL_STANDARD_STEER = 0;
128 STEER_MODE_CTRL_NON_DIRECTION_STEER = 1;
129 STEER_MODE_CTRL_SYNC_DIRECTION_STEER = 2;
130 }
131 // [] [0|15]
132 optional int32 heartbeat_105 = 1;
133 // [] [0|255]
134 optional int32 checksum_105 = 2;
135 // [] [0|7]
136 optional Turn_light_ctrlType turn_light_ctrl = 3;
137 // [] [0|1]
138 optional Vin_reqType vin_req = 4;
139 // [] [0|7]
140 optional Drive_mode_ctrlType drive_mode_ctrl = 5;
141 // [] [0|7]
142 optional Steer_mode_ctrlType steer_mode_ctrl = 6;
143}
144
146// Report Message
148 THROTTLE_FLT2_NO_FAULT = 0;
149 THROTTLE_FLT2_DRIVE_SYSTEM_COMUNICATION_FAULT = 1;
150 }
152 THROTTLE_FLT1_NO_FAULT = 0;
153 THROTTLE_FLT1_DRIVE_SYSTEM_HARDWARE_FAULT = 1;
154 }
156 THROTTLE_EN_STATE_MANUAL = 0;
157 THROTTLE_EN_STATE_AUTO = 1;
158 THROTTLE_EN_STATE_TAKEOVER = 2;
159 THROTTLE_EN_STATE_STANDBY = 3;
160 }
161 // command [%] [0|100]
162 optional double throttle_pedal_actual = 1;
163 // Drive system communication fault [] [0|1]
164 optional Throttle_flt2Type throttle_flt2 = 2;
165 // Drive system hardware fault [] [0|1]
166 optional Throttle_flt1Type throttle_flt1 = 3;
167 // enable [] [0|2]
168 optional Throttle_en_stateType throttle_en_state = 4;
169}
170
172// Report Message
174 BRAKE_FLT2_NO_FAULT = 0;
175 BRAKE_FLT2_BRAKE_SYSTEM_COMUNICATION_FAULT = 1;
176 }
178 BRAKE_FLT1_NO_FAULT = 0;
179 BRAKE_FLT1_BRAKE_SYSTEM_HARDWARE_FAULT = 1;
180 }
182 BRAKE_EN_STATE_MANUAL = 0;
183 BRAKE_EN_STATE_AUTO = 1;
184 BRAKE_EN_STATE_TAKEOVER = 2;
185 BRAKE_EN_STATE_STANDBY = 3;
186 }
187 // command [%] [0|100]
188 optional double brake_pedal_actual = 1;
189 // Brake system communication fault [] [0|1]
190 optional Brake_flt2Type brake_flt2 = 2;
191 // Brake system hardware fault [] [0|1]
192 optional Brake_flt1Type brake_flt1 = 3;
193 // enable [] [0|2]
194 optional Brake_en_stateType brake_en_state = 4;
195}
196
198// Report Message
200 STEER_FLT2_NO_FAULT = 0;
201 STEER_FLT2_STEER_SYSTEM_COMUNICATION_FAULT = 1;
202 }
204 STEER_FLT1_NO_FAULT = 0;
205 STEER_FLT1_STEER_SYSTEM_HARDWARE_FAULT = 1;
206 }
208 STEER_EN_STATE_MANUAL = 0;
209 STEER_EN_STATE_AUTO = 1;
210 STEER_EN_STATE_TAKEOVER = 2;
211 STEER_EN_STATE_STANDBY = 3;
212 }
213 // [deg] [-500|500]
214 optional int32 steer_angle_rear_actual = 1;
215 // [deg/s] [0|0]
216 optional int32 steer_angle_spd_actual = 2;
217 // Steer system communication fault [] [0|255]
218 optional Steer_flt2Type steer_flt2 = 3;
219 // Steer system hardware fault [] [0|255]
220 optional Steer_flt1Type steer_flt1 = 4;
221 // enable [] [0|2]
222 optional Steer_en_stateType steer_en_state = 5;
223 // command [deg] [-500|500]
224 optional int32 steer_angle_actual = 6;
225}
226
228// Report Message
230 GEAR_FLT_NO_FAULT = 0;
231 GEAR_FLT_FAULT = 1;
232 }
234 GEAR_ACTUAL_INVALID = 0;
235 GEAR_ACTUAL_PARK = 1;
236 GEAR_ACTUAL_REVERSE = 2;
237 GEAR_ACTUAL_NEUTRAL = 3;
238 GEAR_ACTUAL_DRIVE = 4;
239 }
240 // fault [] [0|1]
241 optional Gear_fltType gear_flt = 1;
242 // command [] [0|4]
243 optional Gear_actualType gear_actual = 2;
244}
245
247// Report Message
249 PARKING_ACTUAL_RELEASE = 0;
250 PARKING_ACTUAL_PARKING_TRIGGER = 1;
251 }
253 PARK_FLT_NO_FAULT = 0;
254 PARK_FLT_FAULT = 1;
255 }
256 // command [] [0|1]
257 optional Parking_actualType parking_actual = 1;
258 // fault [] [0|1]
259 optional Park_fltType park_flt = 2;
260}
261
263// Report Message
265 VEHICLE_MODE_STATE_MANUAL_REMOTE_MODE = 0;
266 VEHICLE_MODE_STATE_AUTO_MODE = 1;
267 VEHICLE_MODE_STATE_EMERGENCY_MODE = 2;
268 VEHICLE_MODE_STATE_STANDBY_MODE = 3;
269 }
271 AEB_MODE_DISABLE = 0;
272 AEB_MODE_ENABLE = 1;
273 }
275 BRAKE_LIGHT_ACTUAL_BRAKELIGHT_OFF = 0;
276 BRAKE_LIGHT_ACTUAL_BRAKELIGHT_ON = 1;
277 }
279 TURN_LIGHT_ACTUAL_TURNLAMPSTS_OFF = 0;
280 TURN_LIGHT_ACTUAL_LEFT_TURNLAMPSTS_ON = 1;
281 TURN_LIGHT_ACTUAL_RIGHT_TURNLAMPSTS_ON = 2;
282 TURN_LIGHT_ACTUAL_HAZARD_WARNING_LAMPSTS_ON = 3;
283 }
285 DRIVE_MODE_STS_THROTTLE_PADDLE_DRIVE_MODE = 0;
286 DRIVE_MODE_STS_SPEED_DRIVE_MODE = 1;
287 }
289 STEER_MODE_STS_STANDARD_STEER_MODE = 0;
290 STEER_MODE_STS_NON_DIRECTION_STEER_MODE = 1;
291 STEER_MODE_STS_SYNC_DIRECTION_STEER_MODE = 2;
292 }
294 FRONTCRASH_STATE_NO_EVENT = 0;
295 FRONTCRASH_STATE_CRASH_EVENT = 1;
296 }
298 BACKCRASH_STATE_NO_EVENT = 0;
299 BACKCRASH_STATE_CRASH_EVENT = 1;
300 }
302 AEB_BRAKE_STATE_INACTIVE = 0;
303 AEB_BRAKE_STATE_ACTIVE = 1;
304 }
305 // [] [0|0]
306 optional Vehicle_mode_stateType vehicle_mode_state = 1;
307 // describle the vehicle AEB mode whether was set [] [0|1]
308 optional Aeb_modeType aeb_mode = 2;
309 // [] [0|1]
310 optional Brake_light_actualType brake_light_actual = 3;
311 // [] [0|0]
312 optional Turn_light_actualType turn_light_actual = 4;
313 // [] [0|255]
314 optional int32 chassis_errcode = 5;
315 // [] [0|7]
316 optional Drive_mode_stsType drive_mode_sts = 6;
317 // [] [0|7]
318 optional Steer_mode_stsType steer_mode_sts = 7;
319 // [] [0|0]
320 optional Frontcrash_stateType frontcrash_state = 8;
321 // [] [0|0]
322 optional Backcrash_stateType backcrash_state = 9;
323 // describe the vehicle e-brake command whether was triggered by AEB [] [0|0]
324 optional Aeb_brake_stateType aeb_brake_state = 10;
325 // [m/s^2] [-10|10]
326 optional double acc = 11;
327 // speed [m/s] [-32.768|32.767]
328 optional double speed = 12;
329}
330
332// Report Message
333 // [m/s] [0|65.535]
334 optional double rr = 1;
335 // [m/s] [0|65.535]
336 optional double rl = 2;
337 // [m/s] [0|65.535]
338 optional double fr = 3;
339 // [m/s] [0|65.535]
340 optional double fl = 4;
341}
342
344// Report Message
345 // [cm] [0|65535]
346 optional double uiuss9_tof_direct = 1;
347 // [cm] [0|65535]
348 optional double uiuss8_tof_direct = 2;
349 // [cm] [0|65535]
350 optional double uiuss11_tof_direct = 3;
351 // [cm] [0|65535]
352 optional double uiuss10_tof_direct = 4;
353}
354
356// Report Message
357 // [cm] [0|65535]
358 optional double uiuss9_tof_indirect = 1;
359 // [cm] [0|65535]
360 optional double uiuss8_tof_indirect = 2;
361 // [cm] [0|65535]
362 optional double uiuss11_tof_indirect = 3;
363 // [cm] [0|65535]
364 optional double uiuss10_tof_indirect = 4;
365}
366
368// Report Message
369 // [cm] [0|65535]
370 optional double uiuss5_tof_direct = 1;
371 // [cm] [0|65535]
372 optional double uiuss4_tof_direct = 2;
373 // [cm] [0|65535]
374 optional double uiuss3_tof_direct = 3;
375 // [cm] [0|65535]
376 optional double uiuss2_tof_direct = 4;
377}
378
380// Report Message
381 // [cm] [0|65535]
382 optional double uiuss5_tof_indirect = 1;
383 // [cm] [0|65535]
384 optional double uiuss4_tof_indirect = 2;
385 // [cm] [0|65535]
386 optional double uiuss3_tof_indirect = 3;
387 // [cm] [0|65535]
388 optional double uiuss2_tof_indirect = 4;
389}
390
392// Report Message
393 // [cm] [0|65535]
394 optional double uiuss7_tof_direct = 1;
395 // [cm] [0|65535]
396 optional double uiuss6_tof_direct = 2;
397 // [cm] [0|65535]
398 optional double uiuss1_tof_direct = 3;
399 // [cm] [0|65535]
400 optional double uiuss0_tof_direct = 4;
401}
402
404// Report Message
406 BATTERY_FLT_OVERTEMP_NO = 0;
407 BATTERY_FLT_OVERTEMP_FAULT = 1;
408 }
410 BATTERY_FLT_LOWTEMP_NO = 0;
411 BATTERY_FLT_LOWTEMP_FAULT = 1;
412 }
413 // [] [0|15]
414 optional Battery_flt_overtempType battery_flt_overtemp = 1;
415 // [] [0|15]
416 optional Battery_flt_lowtempType battery_flt_lowtemp = 2;
417 // Battery Total Voltage [] [-40|215]
418 optional int32 battery_inside_temperature = 3;
419 // Battery Total Current [A] [-3200|3353.5]
420 optional double battery_current = 4;
421 // Battery Total Voltage [V] [0|300]
422 optional double battery_voltage = 5;
423 // Battery Soc percentage [%] [0|100]
424 optional int32 battery_soc = 6;
425}
426
428// Report Message
429 // [] [0|255]
430 optional int32 vin07 = 1;
431 // [] [0|255]
432 optional int32 vin06 = 2;
433 // [] [0|255]
434 optional int32 vin05 = 3;
435 // [] [0|255]
436 optional int32 vin04 = 4;
437 // [] [0|255]
438 optional int32 vin03 = 5;
439 // [] [0|255]
440 optional int32 vin02 = 6;
441 // [] [0|255]
442 optional int32 vin01 = 7;
443 // [] [0|255]
444 optional int32 vin00 = 8;
445}
446
448// Report Message
449 // [] [0|255]
450 optional int32 vin15 = 1;
451 // [] [0|255]
452 optional int32 vin14 = 2;
453 // [] [0|255]
454 optional int32 vin13 = 3;
455 // [] [0|255]
456 optional int32 vin12 = 4;
457 // [] [0|255]
458 optional int32 vin11 = 5;
459 // [] [0|255]
460 optional int32 vin10 = 6;
461 // [] [0|255]
462 optional int32 vin09 = 7;
463 // [] [0|255]
464 optional int32 vin08 = 8;
465}
466
468// Report Message
469 // [] [0|255]
470 optional int32 vin16 = 1;
471}
472
473message Demo {
474 optional Throttle_command_100 throttle_command_100 = 1; // control message
475 optional Brake_command_101 brake_command_101 = 2; // control message
476 optional Steering_command_102 steering_command_102 = 3; // control message
477 optional Gear_command_103 gear_command_103 = 4; // control message
478 optional Park_command_104 park_command_104 = 5; // control message
479 optional Vehicle_mode_command_105 vehicle_mode_command_105 = 6; // control message
480 optional Throttle_report_500 throttle_report_500 = 7; // report message
481 optional Brake_report_501 brake_report_501 = 8; // report message
482 optional Steering_report_502 steering_report_502 = 9; // report message
483 optional Gear_report_503 gear_report_503 = 10; // report message
484 optional Park_report_504 park_report_504 = 11; // report message
485 optional Vcu_report_505 vcu_report_505 = 12; // report message
486 optional Wheelspeed_report_506 wheelspeed_report_506 = 13; // report message
487 optional Ultr_sensor_1_507 ultr_sensor_1_507 = 14; // report message
488 optional Ultr_sensor_2_508 ultr_sensor_2_508 = 15; // report message
489 optional Ultr_sensor_3_509 ultr_sensor_3_509 = 16; // report message
490 optional Ultr_sensor_4_510 ultr_sensor_4_510 = 17; // report message
491 optional Ultr_sensor_5_511 ultr_sensor_5_511 = 18; // report message
492 optional Bms_report_512 bms_report_512 = 19; // report message
493 optional Vin_resp1_514 vin_resp1_514 = 20; // report message
494 optional Vin_resp2_515 vin_resp2_515 = 21; // report message
495 optional Vin_resp3_516 vin_resp3_516 = 22; // report message
496}
syntax
Definition demo.proto:1