Apollo 10.0
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config.proto
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1syntax = "proto2";
2
3package apollo.drivers.gnss.config;
4
6
7message Stream {
8 enum Format {
9 UNKNOWN = 0;
10 NMEA = 1;
11 RTCM_V2 = 2;
12 RTCM_V3 = 3;
13
14 NOVATEL_TEXT = 10;
15 NOVATEL_BINARY = 11;
16
17 HUACE_TEXT = 12;
18 HUACE_CAN = 13;
19
20 ASENSING_TEXT = 14;
21 ASENSING_BINARY = 15;
22
23 UBLOX_TEXT = 20;
24 UBLOX_BINARY = 21;
25
26 BROADGNSS_TEXT = 30;
27 BROADGNSS_BINARY = 31;
28
29 ENBROAD_TEXT = 40;
30 ENBROAD_BINARY = 41;
31
32 FORSENSE_TEXT = 50;
33
34 }
35 optional Format format = 1;
36
37 message Serial {
38 optional bytes device = 1; // Something like "/dev/ttyXXX".
39 optional int32 baud_rate = 2 [default = 9600];
40 // In general, we assumes no parity, 8 data bits, 1 stop bit, no
41 // handshaking, break detection enabled. If not, add more fields here.
42 }
43
44 message Tcp {
45 optional bytes address = 1; // Something like "192.168.10.6".
46 optional int32 port = 2 [default = 3001];
47 }
48
49 message Udp {
50 optional bytes address = 1; // Something like "192.168.10.6".
51 optional int32 port = 2 [default = 3001];
52 }
53
54 message Ntrip {
55 optional bytes address = 1; // Something like "1.1.1.1".
56 optional int32 port = 2 [default = 2101];
57 optional bytes mount_point = 3; // Something like "demo".
58 optional bytes user = 4;
59 optional bytes password = 5;
60 optional uint32 timeout_s = 6 [default = 30];
61 }
62
63 oneof type {
64 Serial serial = 2;
65 Tcp tcp = 3;
66 Udp udp = 4;
67 Ntrip ntrip = 5;
68 apollo.drivers.canbus.CANCardParameter can_card_parameter = 6;
69 }
70 optional bool push_location = 7;
71}
72
73// Device-specific configuration.
75 // See Page 75 of SPAN on OEM6 Firmware Reference Manual for details.
76 optional int32 imu_orientation = 1 [default = 5];
77}
78
79message UbloxConfig {
80}
81
82enum ImuType {
83 // We currently use the following IMUs. We'll extend this list when a new IMU
84 // is introduced.
85 IMAR_FSAS = 13; // iMAR iIMU-FSAS
86 ISA100C = 26; // Northrop Grumman Litef ISA-100C
87 ADIS16488 = 31; // Analog Devices ADIS16488
88 STIM300 = 32; // Sensonor STIM300
89 ISA100 = 34; // Northrop Grumman Litef ISA-100
90 ISA100_400HZ = 38; // Northrop Grumman Litef ISA-100
91 ISA100C_400HZ = 39; // Northrop Grumman Litef ISA-100
92 CPT_XW5651 = 40; // IMU@SPAN-CPT, and XingWangYuda 5651
93 G320N = 41; // EPSON G320N
94 UM442 = 42; // UM442
95 IAM20680 = 57; // InvenSense-IAM20680
96}
97
98message TF {
99 optional string frame_id = 1 [default = "world"];
100 optional string child_frame_id = 2 [default = "novatel"];
101 optional bool enable = 3 [default = false];
102}
103
104message Config {
105 // The driver reads data from this port. This port should always be provided.
106 optional Stream data = 1;
107
108 // If given, the driver sends commands to this port. If not given, the driver
109 // sends commands to the data port.
110 optional Stream command = 2;
111
112 // The driver gets RTK correction data from this remote port. Usually this is
113 // an NTRIP port.
114 optional Stream rtk_from = 3;
115
116 // If given, the driver sends RTK correction data to this port. If not given,
117 // the driver sends RTK correction data to the data port.
118 optional Stream rtk_to = 4;
119
120 repeated bytes login_commands = 5;
121
122 repeated bytes logout_commands = 6;
123
125 NovatelConfig novatel_config = 7;
126 UbloxConfig ublox_config = 8;
127 }
128
130 RTK_RECEIVER_SOLUTION = 1;
131 RTK_SOFTWARE_SOLUTION = 2;
132 }
133 optional RtkSolutionType rtk_solution_type = 9;
134 optional ImuType imu_type = 10;
135 optional string proj4_text = 11;
136 optional TF tf = 12;
137 // If given, the driver will send velocity info to novatel with command stream
138 optional string wheel_parameters = 13;
139 optional string gpsbin_folder = 14;
140 optional bool use_gnss_time = 15 [default = true];
141}
syntax
Definition config.proto:1
first check imutoantoffset saved in device
Definition readme.txt:2
apollo::drivers::canbus
class register implement
Definition arena_queue.h:37