planning.proto

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syntax = "proto2";
 
package apollo.planning;
 
import "modules/common_msgs/chassis_msgs/chassis.proto";
import "modules/common_msgs/basic_msgs/drive_state.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/map_msgs/map_id.proto";
import "modules/common_msgs/planning_msgs/decision.proto";
import "modules/common_msgs/planning_msgs/planning_internal.proto";
 
message Point {
  optional double x = 1;
  optional double y = 2; 
}
 
message LocationPose {
  //vehice location pose
  optional Point vehice_location = 1;
 
  // left width point of vehice location
  optional Point left_lane_boundary_point = 2;
 
  // right width SL point of vehice location
  optional Point right_lane_boundary_point = 3;
}
 
message EStop {
  // is_estop == true when emergency stop is required
  optional bool is_estop = 1;
  optional string reason = 2;
}
 
message TaskStats {
  optional string name = 1;
  optional double time_ms = 2;
}
 
message LatencyStats {
  optional double total_time_ms = 1;
  repeated TaskStats task_stats = 2;
  optional double init_frame_time_ms = 3;
}
 
enum JucType {
  UNKNOWN = 0;
  IN_ROAD = 1;
  CROSS_ROAD = 2;
  FORK_ROAD = 3;
  MAIN_SIDE = 4;
  DEAD_END = 5;
}
 
message RSSInfo {
  optional bool is_rss_safe = 1;
  optional double cur_dist_lon = 2;
  optional double rss_safe_dist_lon = 3;
  optional double acc_lon_range_minimum = 4;
  optional double acc_lon_range_maximum = 5;
  optional double acc_lat_left_range_minimum = 6;
  optional double acc_lat_left_range_maximum = 7;
  optional double acc_lat_right_range_minimum = 8;
  optional double acc_lat_right_range_maximum = 9;
}
 
// next id: 24
message ADCTrajectory {
  optional apollo.common.Header header = 1;
 
  optional double total_path_length = 2;  // in meters
 
  optional double total_path_time = 3;    // in seconds
 
  optional EStop estop = 6;
 
  optional apollo.planning_internal.Debug debug = 8;
 
  // is_replan == true mean replan triggered
  optional bool is_replan = 9 [default = false];
 
  // Specify trajectory gear
  optional apollo.canbus.Chassis.GearPosition gear = 10;
 
  // path data + speed data
  repeated apollo.common.TrajectoryPoint trajectory_point = 12;
 
  // path point without speed info
  repeated apollo.common.PathPoint path_point = 13;
 
  optional apollo.planning.DecisionResult decision = 14;
 
  optional LatencyStats latency_stats = 15;
 
  // the routing used for current planning result
  optional apollo.common.Header routing_header = 16;
  enum RightOfWayStatus {
    UNPROTECTED = 0;
    PROTECTED = 1;
  }
  optional RightOfWayStatus right_of_way_status = 17;
 
  // lane id along current reference line
  repeated apollo.hdmap.Id lane_id = 18;
 
  // set the engage advice for based on current planning result.
  optional apollo.common.EngageAdvice engage_advice = 19;
 
  // the region where planning cares most
  message CriticalRegion {
    repeated apollo.common.Polygon region = 1;
  }
  // critical region will be empty when planning is NOT sure which region is
  // critical
  // critical regions may or may not overlap
  optional CriticalRegion critical_region = 20;
 
  enum TrajectoryType {
    UNKNOWN = 0;
    NORMAL = 1;
    PATH_FALLBACK = 2;
    SPEED_FALLBACK = 3;
    PATH_REUSED = 4;
    OPEN_SPACE = 5;
    EDGE_FOLLOW = 6;
    RELATIVE_CONTROL = 7;
  }
  optional TrajectoryType trajectory_type = 21 [default = UNKNOWN];
 
  optional string replan_reason = 22;
 
  // lane id along target reference line
  repeated apollo.hdmap.Id target_lane_id = 23;
 
  // complete dead end flag
  optional bool car_in_dead_end = 24;
 
  // vehicle location pose
  optional LocationPose location_pose = 25;
 
  // in RELATIVE_CONTROL trajectory type, if trajectory is collisioned with obstable
  optional bool is_collision = 26 [default = false];
 
  // output related to RSS
  optional RSSInfo rss_info = 100;
 
}