nano_radar.proto

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syntax = "proto2";
 
package apollo.drivers;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
message NanoObjectListStatus_60A {
  optional int32 nof_objects = 1 [default = 0];
  optional int32 meas_counter = 2 [default = -1];
  optional int32 interface_version = 3;
}
 
 
 
message NanoRadarState_201 {
  enum OutputType {
    OUTPUT_TYPE_NONE = 0;
    OUTPUT_TYPE_OBJECTS = 1;
    OUTPUT_TYPE_CLUSTERS = 2;
    OUTPUT_TYPE_ERROR = 3;
  }
  
  enum RcsThreshold {
    RCS_THRESHOLD_STANDARD = 0;
    RCS_THRESHOLD_HIGH_SENSITIVITY = 1;
    RCS_THRESHOLD_ERROR = 2;
  }
  
  optional uint32 max_distance = 1;
  optional uint32 radar_power = 2;
  optional OutputType output_type = 3;
  optional RcsThreshold rcs_threshold = 4;
  optional bool send_quality = 5;
  optional bool send_ext_info = 6;
}
 
message NanoSoftwareVersion_700 {
  optional uint32 soft_major_release = 1;
  optional uint32 soft_minor_release = 2;
  optional uint32 soft_patch_level = 3;
}
 
message NanoCollisionDetectionRegionState_402 {
  //                x axis  ^
  //                        | longitude_dist
  //     P2(Long2,Lat2)     |
  //        ----------------------------------
  //        |               |                |
  //        |               |                |
  //        |               |                |
  //        ----------------------------------
  //                        |             P1(Long1,Lat1)
  //                        |
  //                        |         lateral_dist
  //                        --------------------->
  //                                        y axis
  //        ooooooooooooo   //radar front surface max:50m x 50m
  optional uint32 region_id = 1;
  optional uint32 region_max_output_number = 2;
  optional double point1_longitude = 3;
  optional double point1_lateral = 4;
  optional double point2_longitude = 5;
  optional double point2_lateral = 6;
  optional bool coordinates_valid = 7;
  optional bool activation_valid = 8;
}
 
message NanoRadarObs {
  //                x axis  ^
  //                        | longitude_dist
  //                        |
  //                        |
  //                        |
  //                        |     lateral_dist
  //                        |           y axis
  //                        ----------------->
  //        ooooooooooooo   //radar front surface 77GHz
 
  optional apollo.common.Header header = 1;
  optional bool clusterortrack = 2;  // 0 = track, 1 = cluster
  optional int32 obstacle_id = 3;    // obstacle Id
  // longitude distance to the radar; (+) = target far away the radar unit = m
  optional double longitude_dist = 4;
  // lateral distance to the radar; (+) = right; unit = m
  optional double lateral_dist = 5;
  // longitude velocity to the radar; (+) = forward; unit = m/s
  optional double longitude_vel = 6;
  // lateral velocity to the radar; (+) = right; unit = m/s
  optional double lateral_vel = 7;
  // obstacle Radar Cross-Section; unit = dBsm
  optional double rcs = 8;
  // 0 = moving, 1 = stationary, 2 = oncoming, 3 = stationary candidate
  // 4 = unknown, 5 = crossing stationary, 6 = crossing moving, 7 = stopped
  optional int32 dynprop = 9;
  // longitude distance standard deviation to the radar; (+) = forward; unit = m
  optional double longitude_dist_rms = 10;
  // lateral distance standard deviation to the radar; (+) = left; unit = m
  optional double lateral_dist_rms = 11;
  // longitude velocity standard deviation to the radar; (+) = forward; unit =
  // m/s
  optional double longitude_vel_rms = 12;
  // lateral velocity standard deviation to the radar; (+) = left; unit = m/s
  optional double lateral_vel_rms = 13;
  // obstacle probability of existence
  optional double probexist = 14;
 
  // The following is only valid for the track object message
  // 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
  // from merge
  optional int32 meas_state = 15;
  // longitude acceleration to the radar; (+) = forward; unit = m/s2
  optional double longitude_accel = 16;
  // lateral acceleration to the radar; (+) = left; unit = m/s2
  optional double lateral_accel = 17;
  // orientation angle to the radar; (+) = counterclockwise; unit = degree
  optional double oritation_angle = 18;
  // longitude acceleration standard deviation to the radar; (+) = forward; unit
  // = m/s2
  optional double longitude_accel_rms = 19;
  // lateral acceleration standard deviation to the radar; (+) = left; unit =
  // m/s2
  optional double lateral_accel_rms = 20;
  // orientation angle standard deviation to the radar; (+) = counterclockwise;
  // unit = degree
  optional double oritation_angle_rms = 21;
  optional double length = 22;  // obstacle length; unit = m
  optional double width = 23;   // obstacle width; unit = m
  // 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6:
  // wide; 7: unknown
  optional int32 obstacle_class = 24;
  // Object Range
  optional double obstacle_range = 25;
  // Object Velocity
  optional double obstacle_vel = 26;
  // Object Angle
  optional double obstacle_angle = 27;
}
 
message NanoRadar {
  optional apollo.common.Header header = 1;
  repeated NanoRadarObs contiobs = 2;  // conti radar obstacle array
  optional NanoRadarState_201 radar_state = 3;
  optional NanoCollisionDetectionRegionState_402 radar_region_state = 4;
  optional NanoObjectListStatus_60A object_list_status = 6;
  optional NanoSoftwareVersion_700 software_version = 7;
}