Apollo
10.0
自动驾驶开放平台
config.proto
浏览该文件的文档.
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syntax
=
"proto2"
;
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3
package
apollo.drivers.gnss.config;
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import
"
modules/common_msgs/drivers_msgs/can_card_parameter.proto
";
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message
Stream
{
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enum
Format
{
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UNKNOWN = 0;
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NMEA = 1;
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RTCM_V2 = 2;
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RTCM_V3 = 3;
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NOVATEL_TEXT = 10;
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NOVATEL_BINARY = 11;
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HUACE_TEXT = 12;
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HUACE_CAN = 13;
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ASENSING_TEXT = 14;
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ASENSING_BINARY = 15;
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UBLOX_TEXT = 20;
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UBLOX_BINARY = 21;
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BROADGNSS_TEXT = 30;
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BROADGNSS_BINARY = 31;
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ENBROAD_TEXT = 40;
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ENBROAD_BINARY = 41;
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FORSENSE_TEXT = 50;
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}
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optional
Format
format = 1;
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message
Serial
{
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optional bytes
device
= 1;
// Something like "/dev/ttyXXX".
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optional int32 baud_rate = 2 [
default
= 9600];
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// In general, we assumes no parity, 8 data bits, 1 stop bit, no
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// handshaking, break detection enabled. If not, add more fields here.
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}
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message
Tcp
{
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optional bytes address = 1;
// Something like "192.168.10.6".
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optional int32 port = 2 [
default
= 3001];
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}
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message
Udp
{
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optional bytes address = 1;
// Something like "192.168.10.6".
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optional int32 port = 2 [
default
= 3001];
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}
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message
Ntrip
{
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optional bytes address = 1;
// Something like "1.1.1.1".
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optional int32 port = 2 [
default
= 2101];
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optional bytes mount_point = 3;
// Something like "demo".
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optional bytes user = 4;
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optional bytes password = 5;
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optional uint32 timeout_s = 6 [
default
= 30];
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}
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oneof
type
{
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Serial
serial = 2;
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Tcp
tcp = 3;
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Udp
udp = 4;
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Ntrip
ntrip = 5;
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apollo
.
drivers
.
canbus
.
CANCardParameter
can_card_parameter = 6;
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}
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optional
bool
push_location = 7;
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}
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// Device-specific configuration.
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message
NovatelConfig
{
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// See Page 75 of SPAN on OEM6 Firmware Reference Manual for details.
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optional int32 imu_orientation = 1 [
default
= 5];
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}
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message
UbloxConfig
{
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}
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enum
ImuType
{
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// We currently use the following IMUs. We'll extend this list when a new IMU
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// is introduced.
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IMAR_FSAS
= 13;
// iMAR iIMU-FSAS
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ISA100C
= 26;
// Northrop Grumman Litef ISA-100C
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ADIS16488
= 31;
// Analog Devices ADIS16488
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STIM300
= 32;
// Sensonor STIM300
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ISA100
= 34;
// Northrop Grumman Litef ISA-100
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ISA100_400HZ
= 38;
// Northrop Grumman Litef ISA-100
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ISA100C_400HZ
= 39;
// Northrop Grumman Litef ISA-100
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CPT_XW5651
= 40;
// IMU@SPAN-CPT, and XingWangYuda 5651
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G320N
= 41;
// EPSON G320N
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UM442
= 42;
// UM442
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IAM20680
= 57;
// InvenSense-IAM20680
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}
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message
TF
{
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optional
string
frame_id = 1 [
default
=
"world"
];
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optional
string
child_frame_id = 2 [
default
=
"novatel"
];
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optional
bool
enable = 3 [
default
=
false
];
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}
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message
Config
{
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// The driver reads data from this port. This port should always be provided.
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optional
Stream
data = 1;
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// If given, the driver sends commands to this port. If not given, the driver
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// sends commands to the data port.
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optional
Stream
command = 2;
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// The driver gets RTK correction data from this remote port. Usually this is
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// an NTRIP port.
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optional
Stream
rtk_from = 3;
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// If given, the driver sends RTK correction data to this port. If not given,
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// the driver sends RTK correction data to the data port.
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optional
Stream
rtk_to = 4;
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repeated bytes login_commands = 5;
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repeated bytes logout_commands = 6;
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oneof
device_config
{
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NovatelConfig
novatel_config = 7;
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UbloxConfig
ublox_config = 8;
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}
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enum
RtkSolutionType
{
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RTK_RECEIVER_SOLUTION = 1;
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RTK_SOFTWARE_SOLUTION = 2;
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}
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optional
RtkSolutionType
rtk_solution_type = 9;
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optional
ImuType
imu_type = 10;
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optional
string
proj4_text = 11;
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optional
TF
tf = 12;
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// If given, the driver will send velocity info to novatel with command stream
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optional
string
wheel_parameters = 13;
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optional
string
gpsbin_folder = 14;
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optional
bool
use_gnss_time = 15 [
default
=
true
];
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}
syntax
syntax
Definition
config.proto:1
can_card_parameter.proto
device
first check imutoantoffset saved in device
Definition
readme.txt:2
apollo::drivers::canbus
apollo::drivers::canbus
Definition
can_card_parameter.proto:3
apollo::drivers::gnss::config::ImuType
ImuType
Definition
config.proto:82
apollo::drivers::gnss::config::IAM20680
@ IAM20680
Definition
config.proto:95
apollo::drivers::gnss::config::CPT_XW5651
@ CPT_XW5651
Definition
config.proto:92
apollo::drivers::gnss::config::ISA100C
@ ISA100C
Definition
config.proto:86
apollo::drivers::gnss::config::ADIS16488
@ ADIS16488
Definition
config.proto:87
apollo::drivers::gnss::config::ISA100_400HZ
@ ISA100_400HZ
Definition
config.proto:90
apollo::drivers::gnss::config::UM442
@ UM442
Definition
config.proto:94
apollo::drivers::gnss::config::ISA100C_400HZ
@ ISA100C_400HZ
Definition
config.proto:91
apollo::drivers::gnss::config::STIM300
@ STIM300
Definition
config.proto:88
apollo::drivers::gnss::config::IMAR_FSAS
@ IMAR_FSAS
Definition
config.proto:85
apollo::drivers::gnss::config::G320N
@ G320N
Definition
config.proto:93
apollo::drivers::gnss::config::ISA100
@ ISA100
Definition
config.proto:89
apollo::drivers
apollo::drivers
Definition
can_card_parameter.proto:3
apollo
class register implement
Definition
arena_queue.h:37
apollo::drivers::canbus::CANCardParameter
Definition
can_card_parameter.proto:5
apollo::drivers::gnss::config::Config
Definition
config.proto:104
apollo::drivers::gnss::config::Config::RtkSolutionType
RtkSolutionType
Definition
config.proto:129
apollo::drivers::gnss::config::NovatelConfig
Definition
config.proto:74
apollo::drivers::gnss::config::Stream::Ntrip
Definition
config.proto:54
apollo::drivers::gnss::config::Stream::Serial
Definition
config.proto:37
apollo::drivers::gnss::config::Stream::Tcp
Definition
config.proto:44
apollo::drivers::gnss::config::Stream::Udp
Definition
config.proto:49
apollo::drivers::gnss::config::Stream
Definition
config.proto:7
apollo::drivers::gnss::config::Stream::Format
Format
Definition
config.proto:8
apollo::drivers::gnss::config::TF
Definition
config.proto:98
apollo::drivers::gnss::config::UbloxConfig
Definition
config.proto:79
apollo::drivers::gnss::config::Config::device_config
Definition
config.proto:124
apollo::drivers::gnss::config::Stream::type
Definition
config.proto:63
modules
drivers
gnss
proto
config.proto