Apollo 10.0
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gem.proto
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1syntax = "proto2";
2
3package apollo.canbus;
4
5// Gem vehicle starts from here
6// TODO(QiL) : Re-factor needed here
7
8message Global_rpt_6a {
9 // Report Message
11 PACMOD_STATUS_CONTROL_DISABLED = 0;
12 PACMOD_STATUS_CONTROL_ENABLED = 1;
13 }
15 OVERRIDE_STATUS_NOT_OVERRIDDEN = 0;
16 OVERRIDE_STATUS_OVERRIDDEN = 1;
17 }
19 BRK_CAN_TIMEOUT_NO_ACTIVE_CAN_TIMEOUT = 0;
20 BRK_CAN_TIMEOUT_ACTIVE_CAN_TIMEOUT = 1;
21 }
22 // [] [0|1]
23 optional Pacmod_statusType pacmod_status = 1;
24 // [] [0|1]
25 optional Override_statusType override_status = 2;
26 // [] [0|1]
27 optional bool veh_can_timeout = 3;
28 // [] [0|1]
29 optional bool str_can_timeout = 4;
30 // [] [0|1]
31 optional Brk_can_timeoutType brk_can_timeout = 5;
32 // [] [0|1]
33 optional bool usr_can_timeout = 6;
34 // [] [0|65535]
35 optional int32 usr_can_read_errors = 7;
36}
37
38message Brake_cmd_6b {
39 // Report Message
40 // [%] [0|1]
41 optional double brake_cmd = 1;
42}
43
44message Brake_rpt_6c {
45 // Report Message
47 BRAKE_ON_OFF_OFF = 0;
48 BRAKE_ON_OFF_ON = 1;
49 }
50 // [%] [0|1]
51 optional double manual_input = 1;
52 // [%] [0|1]
53 optional double commanded_value = 2;
54 // [%] [0|1]
55 optional double output_value = 3;
56 // [] [0|1]
57 optional Brake_on_offType brake_on_off = 4;
58}
59
61 // Report Message
62 // [radians] [-2147483.648|2147483.647]
63 optional double position_value = 1;
64 // [rad/s] [0|65.535]
65 optional double speed_limit = 2;
66}
67
69 // Report Message
70 // [rad/s] [-32.768|32.767]
71 optional double manual_input = 1;
72 // [rad/s] [-32.768|32.767]
73 optional double commanded_value = 2;
74 // [rad/s] [-32.768|32.767]
75 optional double output_value = 3;
76}
77
79 // Report Message
80 // [rad/s] [-32768|32767]
81 optional int32 wheel_spd_rear_right = 1;
82 // [rad/s] [-32768|32767]
83 optional int32 wheel_spd_rear_left = 2;
84 // [rad/s] [-32768|32767]
85 optional int32 wheel_spd_front_right = 3;
86 // [rad/s] [-32768|32767]
87 optional int32 wheel_spd_front_left = 4;
88}
89
91 // Report Message
92 // [sec] [0|60]
93 optional int32 time_second = 1;
94 // [min] [0|60]
95 optional int32 time_minute = 2;
96 // [hr] [0|23]
97 optional int32 time_hour = 3;
98 // [dy] [1|31]
99 optional int32 date_day = 4;
100 // [mon] [1|12]
101 optional int32 date_month = 5;
102 // [yr] [2000|2255]
103 optional int32 date_year = 6;
104}
105
107 // Report Message
108 // [amps] [0|4294967.295]
109 optional double motor_current = 1;
110 // [radians] [-2147483.648|2147483.647]
111 optional double shaft_position = 2;
112}
113
115 // Report Message
117 OUTPUT_VALUE_HEADLIGHTS_OFF = 0;
118 OUTPUT_VALUE_LOW_BEAMS = 1;
119 OUTPUT_VALUE_HIGH_BEAMS = 2;
120 }
122 MANUAL_INPUT_HEADLIGHTS_OFF = 0;
123 MANUAL_INPUT_LOW_BEAMS = 1;
124 MANUAL_INPUT_HIGH_BEAMS = 2;
125 }
127 COMMANDED_VALUE_HEADLIGHTS_OFF = 0;
128 COMMANDED_VALUE_LOW_BEAMS = 1;
129 COMMANDED_VALUE_HIGH_BEAMS = 2;
130 }
131 // [] [0|2]
132 optional Output_valueType output_value = 1;
133 // [] [0|2]
134 optional Manual_inputType manual_input = 2;
135 // [] [0|2]
136 optional Commanded_valueType commanded_value = 3;
137}
138
140 // Report Message
141 // [%] [0|1]
142 optional double manual_input = 1;
143 // [%] [0|1]
144 optional double commanded_value = 2;
145 // [%] [0|1]
146 optional double output_value = 3;
147}
148
150 // Report Message
151 // [N-m] [-2147483.648|2147483.647]
152 optional double torque_output = 1;
153 // [N-m] [-2147483.648|2147483.647]
154 optional double torque_input = 2;
155}
156
157message Turn_cmd_63 {
158 // Report Message
160 TURN_SIGNAL_CMD_RIGHT = 0;
161 TURN_SIGNAL_CMD_NONE = 1;
162 TURN_SIGNAL_CMD_LEFT = 2;
163 TURN_SIGNAL_CMD_HAZARD = 3;
164 }
165 // [] [0|3]
166 optional Turn_signal_cmdType turn_signal_cmd = 1;
167}
168
169message Turn_rpt_64 {
170 // Report Message
172 MANUAL_INPUT_RIGHT = 0;
173 MANUAL_INPUT_NONE = 1;
174 MANUAL_INPUT_LEFT = 2;
175 MANUAL_INPUT_HAZARD = 3;
176 }
178 COMMANDED_VALUE_RIGHT = 0;
179 COMMANDED_VALUE_NONE = 1;
180 COMMANDED_VALUE_LEFT = 2;
181 COMMANDED_VALUE_HAZARD = 3;
182 }
184 OUTPUT_VALUE_RIGHT = 0;
185 OUTPUT_VALUE_NONE = 1;
186 OUTPUT_VALUE_LEFT = 2;
187 OUTPUT_VALUE_HAZARD = 3;
188 }
189 // [] [0|3]
190 optional Manual_inputType manual_input = 1;
191 // [] [0|3]
192 optional Commanded_valueType commanded_value = 2;
193 // [] [0|3]
194 optional Output_valueType output_value = 3;
195}
196
198 // Report Message
200 SHIFT_CMD_PARK = 0;
201 SHIFT_CMD_REVERSE = 1;
202 SHIFT_CMD_NEUTRAL = 2;
203 SHIFT_CMD_FORWARD = 3;
204 SHIFT_CMD_LOW = 4;
205 }
206 // FORWARD_is_also_LOW_on_vehicles_with_LOW/HIGH,_PARK_and_HIGH_only_available_on_certain_Vehicles
207 // [] [0|4]
208 optional Shift_cmdType shift_cmd = 1;
209}
210
212 // Report Message
214 MANUAL_INPUT_PARK = 0;
215 MANUAL_INPUT_REVERSE = 1;
216 MANUAL_INPUT_NEUTRAL = 2;
217 MANUAL_INPUT_FORWARD = 3;
218 MANUAL_INPUT_HIGH = 4;
219 }
221 COMMANDED_VALUE_PARK = 0;
222 COMMANDED_VALUE_REVERSE = 1;
223 COMMANDED_VALUE_NEUTRAL = 2;
224 COMMANDED_VALUE_FORWARD = 3;
225 COMMANDED_VALUE_HIGH = 4;
226 }
228 OUTPUT_VALUE_PARK = 0;
229 OUTPUT_VALUE_REVERSE = 1;
230 OUTPUT_VALUE_NEUTRAL = 2;
231 OUTPUT_VALUE_FORWARD = 3;
232 OUTPUT_VALUE_HIGH = 4;
233 }
234 // [] [0|4]
235 optional Manual_inputType manual_input = 1;
236 // [] [0|4]
237 optional Commanded_valueType commanded_value = 2;
238 // [] [0|4]
239 optional Output_valueType output_value = 3;
240}
241
243 // Report Message
244 // [%] [0|1]
245 optional double accel_cmd = 1;
246}
247
249 // Report Message
250 // [deg] [-327.68|327.67]
251 optional double heading = 1;
252 // [sec] [-128|127]
253 optional int32 longitude_seconds = 2;
254 // [min] [-128|127]
255 optional int32 longitude_minutes = 3;
256 // [deg] [-128|127]
257 optional int32 longitude_degrees = 4;
258 // [sec] [-128|127]
259 optional int32 latitude_seconds = 5;
260 // [min] [-128|127]
261 optional int32 latitude_minutes = 6;
262 // [deg] [-128|127]
263 optional int32 latitude_degrees = 7;
264}
265
267 // Report Message
269 PACMOD_ENABLE_CONTROL_DISABLED = 0;
270 PACMOD_ENABLE_CONTROL_ENABLED = 1;
271 }
273 CLEAR_OVERRIDE_DON_T_CLEAR_ACTIVE_OVERRIDES = 0;
274 CLEAR_OVERRIDE_CLEAR_ACTIVE_OVERRIDES = 1;
275 }
277 IGNORE_OVERRIDE_DON_T_IGNORE_USER_OVERRIDES = 0;
278 IGNORE_OVERRIDE_IGNORE_USER_OVERRIDES = 1;
279 }
280 // [] [0|1]
281 optional Pacmod_enableType pacmod_enable = 1;
282 // [] [0|1]
283 optional Clear_overrideType clear_override = 2;
284 // [] [0|1]
285 optional Ignore_overrideType ignore_override = 3;
286}
287
289 // Report Message
291 PARKING_BRAKE_ENABLED_OFF = 0;
292 PARKING_BRAKE_ENABLED_ON = 1;
293 }
294 // [] [0|1]
295 optional Parking_brake_enabledType parking_brake_enabled = 1;
296}
297
299 // Report Message
300 // [rad/s] [-327.68|327.67]
301 optional double yaw_rate = 1;
302}
303
304message Horn_rpt_79 {
305 // Report Message
307 OUTPUT_VALUE_OFF = 0;
308 OUTPUT_VALUE_ON = 1;
309 }
311 COMMANDED_VALUE_OFF = 0;
312 COMMANDED_VALUE_ON = 1;
313 }
315 MANUAL_INPUT_OFF = 0;
316 MANUAL_INPUT_ON = 1;
317 }
318 // [] [0|1]
319 optional Output_valueType output_value = 1;
320 // [] [0|1]
321 optional Commanded_valueType commanded_value = 2;
322 // [] [0|1]
323 optional Manual_inputType manual_input = 3;
324}
325
326message Horn_cmd_78 {
327 // Report Message
329 HORN_CMD_OFF = 0;
330 HORN_CMD_ON = 1;
331 }
332 // [] [0|1]
333 optional Horn_cmdType horn_cmd = 1;
334}
335
337 // Report Message
339 OUTPUT_VALUE_WIPERS_OFF = 0;
340 OUTPUT_VALUE_INTERMITTENT_1 = 1;
341 OUTPUT_VALUE_INTERMITTENT_2 = 2;
342 OUTPUT_VALUE_INTERMITTENT_3 = 3;
343 OUTPUT_VALUE_INTERMITTENT_4 = 4;
344 OUTPUT_VALUE_INTERMITTENT_5 = 5;
345 OUTPUT_VALUE_LOW = 6;
346 OUTPUT_VALUE_HIGH = 7;
347 }
349 COMMANDED_VALUE_WIPERS_OFF = 0;
350 COMMANDED_VALUE_INTERMITTENT_1 = 1;
351 COMMANDED_VALUE_INTERMITTENT_2 = 2;
352 COMMANDED_VALUE_INTERMITTENT_3 = 3;
353 COMMANDED_VALUE_INTERMITTENT_4 = 4;
354 COMMANDED_VALUE_INTERMITTENT_5 = 5;
355 COMMANDED_VALUE_LOW = 6;
356 COMMANDED_VALUE_HIGH = 7;
357 }
359 MANUAL_INPUT_WIPERS_OFF = 0;
360 MANUAL_INPUT_INTERMITTENT_1 = 1;
361 MANUAL_INPUT_INTERMITTENT_2 = 2;
362 MANUAL_INPUT_INTERMITTENT_3 = 3;
363 MANUAL_INPUT_INTERMITTENT_4 = 4;
364 MANUAL_INPUT_INTERMITTENT_5 = 5;
365 MANUAL_INPUT_LOW = 6;
366 MANUAL_INPUT_HIGH = 7;
367 }
368 // [] [0|7]
369 optional Output_valueType output_value = 1;
370 // [] [0|7]
371 optional Commanded_valueType commanded_value = 2;
372 // [] [0|7]
373 optional Manual_inputType manual_input = 3;
374}
375
377 // Report Message
379 VEHICLE_SPEED_VALID_INVALID = 0;
380 VEHICLE_SPEED_VALID_VALID = 1;
381 }
382 // [m/s] [-327.68|327.67]
383 optional double vehicle_speed = 1;
384 // [] [0|1]
385 optional Vehicle_speed_validType vehicle_speed_valid = 2;
386}
387
389 // Report Message
391 HEADLIGHT_CMD_HEADLIGHTS_OFF = 0;
392 HEADLIGHT_CMD_LOW_BEAMS = 1;
393 HEADLIGHT_CMD_HIGH_BEAMS = 2;
394 }
395 // [] [0|2]
396 optional Headlight_cmdType headlight_cmd = 1;
397}
398
400 // Report Message
401 // [deg C] [-32808|32727]
402 optional int32 encoder_temperature = 1;
403 // [deg C] [-32808|32727]
404 optional int32 motor_temperature = 2;
405 // [rev/s] [-2147483.648|2147483.647]
406 optional double angular_speed = 3;
407}
408
410 // Report Message
411 // [deg C] [-32808|32727]
412 optional int32 encoder_temperature = 1;
413 // [deg C] [-32808|32727]
414 optional int32 motor_temperature = 2;
415 // [rev/s] [0|4294967.295]
416 optional double angular_speed = 3;
417}
418
420 // Report Message
421 // [amps] [0|4294967.295]
422 optional double motor_current = 1;
423 // [amps] [-2147483.648|2147483.647]
424 optional double shaft_position = 2;
425}
426
428 // Report Message
430 WIPER_CMD_WIPERS_OFF = 0;
431 WIPER_CMD_INTERMITTENT_1 = 1;
432 WIPER_CMD_INTERMITTENT_2 = 2;
433 WIPER_CMD_INTERMITTENT_3 = 3;
434 WIPER_CMD_INTERMITTENT_4 = 4;
435 WIPER_CMD_INTERMITTENT_5 = 5;
436 WIPER_CMD_LOW = 6;
437 WIPER_CMD_HIGH = 7;
438 }
439 // [] [0|7]
440 optional Wiper_cmdType wiper_cmd = 1;
441}
442
444 // Report Message
445 // [N-m] [-2147483.648|2147483.647]
446 optional double torque_output = 1;
447 // [N-m] [-2147483.648|2147483.647]
448 optional double torque_input = 2;
449}
450
451message Light {
453 TURN_LIGHT_OFF = 0;
454 TURN_LEFT_ON = 1;
455 TURN_RIGHT_ON = 2;
456 TURN_LIGHT_ON = 3;
457 }
459 BEAM_OFF = 0;
460 HIGH_BEAM_ON = 1;
461 LOW_BEAM_ON = 2;
462 }
463
464 optional TurnLightType turn_light_type = 1;
465 optional BeamLampType beam_lamp_type = 2;
466 optional bool is_brake_lamp_on = 3;
467
468}
469
470message Gem {
471 optional Global_rpt_6a global_rpt_6a = 1; // report message
472 optional Brake_cmd_6b brake_cmd_6b = 2; // report message
473 optional Brake_rpt_6c brake_rpt_6c = 3; // report message
474 optional Steering_cmd_6d steering_cmd_6d = 4; // report message
475 optional Steering_rpt_1_6e steering_rpt_1_6e = 5; // report message
476 optional Wheel_speed_rpt_7a wheel_speed_rpt_7a = 6; // report message
477 optional Date_time_rpt_83 date_time_rpt_83 = 7; // report message
478 optional Brake_motor_rpt_1_70 brake_motor_rpt_1_70 = 8; // report message
479 optional Headlight_rpt_77 headlight_rpt_77 = 9; // report message
480 optional Accel_rpt_68 accel_rpt_68 = 10; // report message
481 optional Steering_motor_rpt_3_75 steering_motor_rpt_3_75 =
482 11; // report message
483 optional Turn_cmd_63 turn_cmd_63 = 12; // report message
484 optional Turn_rpt_64 turn_rpt_64 = 13; // report message
485 optional Shift_cmd_65 shift_cmd_65 = 14; // report message
486 optional Shift_rpt_66 shift_rpt_66 = 15; // report message
487 optional Accel_cmd_67 accel_cmd_67 = 16; // report message
488 optional Lat_lon_heading_rpt_82 lat_lon_heading_rpt_82 =
489 17; // report message
490 optional Global_cmd_69 global_cmd_69 = 18; // report message
491 optional Parking_brake_status_rpt_80 parking_brake_status_rpt_80 =
492 19; // report message
493 optional Yaw_rate_rpt_81 yaw_rate_rpt_81 = 20; // report message
494 optional Horn_rpt_79 horn_rpt_79 = 21; // report message
495 optional Horn_cmd_78 horn_cmd_78 = 22; // report message
496 optional Wiper_rpt_91 wiper_rpt_91 = 23; // report message
497 optional Vehicle_speed_rpt_6f vehicle_speed_rpt_6f = 24; // report message
498 optional Headlight_cmd_76 headlight_cmd_76 = 25; // report message
499 optional Steering_motor_rpt_2_74 steering_motor_rpt_2_74 =
500 26; // report message
501 optional Brake_motor_rpt_2_71 brake_motor_rpt_2_71 = 27; // report message
502 optional Steering_motor_rpt_1_73 steering_motor_rpt_1_73 =
503 28; // report message
504 optional Wiper_cmd_90 wiper_cmd_90 = 29; // report message
505 optional Brake_motor_rpt_3_72 brake_motor_rpt_3_72 = 30; // report message
506 optional Light light = 31; // report message
507}
syntax
Definition gem.proto:1