planning_status.proto

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syntax = "proto2";
 
package apollo.planning;
 
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/external_command_msgs/lane_follow_command.proto";
/*
  This file defines the data types that represents the internal state of the
  planning module.
  It will not be refreshed in each planning cycle.
*/
 
 
message ChangeLaneStatus {
  enum Status {
    IN_CHANGE_LANE = 1;        // during change lane state
    CHANGE_LANE_FAILED = 2;    // change lane failed
    CHANGE_LANE_FINISHED = 3;  // change lane finished
  }
  optional Status status = 1;
  // the id of the route segment that the vehicle is driving on
  optional string path_id = 2;
  // the time stamp when the state started.
  optional double timestamp = 3;
}
 
message CreepDeciderStatus {
  // Counter for creep clearance
  optional uint32 creep_clear_counter = 1;
}
 
message StopTime {
  // Obstacle id stopping the vehicle
  optional string obstacle_id = 1;
  // the timestamp when start stopping for the crosswalk
  optional double stop_timestamp_sec = 2;
}
 
message CrosswalkStatus {
  // Id of crosswalk
  optional string crosswalk_id = 1;
  // the timestamp when start stopping for the crosswalk
  repeated StopTime stop_time = 2;
  // Crosswalks already passed or finished
  repeated string finished_crosswalk = 3;
}
 
message DestinationStatus {
  // If vehicle has passed destination
  optional bool has_passed_destination = 1 [default = false];
}
 
message EmergencyStopStatus {
  // Stop fence point for emergency stop
  optional apollo.common.PointENU stop_fence_point = 1;
}
 
message OpenSpaceStatus {
  // History of partitioned trajectories index
  repeated string partitioned_trajectories_index_history = 1;
  // If position has been initialized.
  optional bool position_init = 2 [default = false];
}
 
message ParkAndGoStatus {
  // Initial position of vehicle
  optional apollo.common.PointENU adc_init_position = 1;
  // Initial heading of vehicle
  optional double adc_init_heading = 2;
  // If current stage is "ParkAndGoStageCheck"
  optional bool in_check_stage = 3;
  // Mapped point on reference line near intial position of vehicle, which is
  // used as end pose of openspace algorithm.
  optional apollo.common.PointENU adc_adjust_end_pose = 4;
}
 
message PathDeciderStatus {
  // Cycle counter of front static obstacle's existance
  optional int32 front_static_obstacle_cycle_counter = 1 [default = 0];
  // If vehicle is in lane borrow scenario
  optional bool is_in_path_lane_borrow_scenario = 2 [default = false];
  // Blocking obstacle id in front of the vehicle
  optional string front_static_obstacle_id = 3 [default = ""];
  // If vehicle left borrow
  optional bool left_borrow = 4 [default = false];
  // If vehicle right borrow
  optional bool right_borrow = 5 [default = false];
}
 
message PullOverStatus {
  enum PullOverType {
    PULL_OVER = 1;            // pull-over upon destination arrival
    EMERGENCY_PULL_OVER = 2;  // emergency pull-over
  }
  // Current pullover type
  optional PullOverType pull_over_type = 1;
  // Indicate if current path is pull over path
  optional bool plan_pull_over_path = 2 [default = false];
  // Position of pull over
  optional apollo.common.PointENU position = 3;
  // Heading of pull over
  optional double theta = 4;
  // Front length for pull over region
  optional double length_front = 5;
  // Back length for pull over region
  optional double length_back = 6;
  // Left width for pull over region
  optional double width_left = 7;
  // Right width for pull over region
  optional double width_right = 8;
}
 
message ReroutingStatus {
  // Time of last rerouting
  optional double last_rerouting_time = 1;
  // If rerouting need to be done
  optional bool need_rerouting = 2 [default = false];
  // Last received planning command
  optional apollo.external_command.LaneFollowCommand lane_follow_command=4;
}
 
message SpeedDeciderStatus {
  // Time of stopping at pedestrian
  repeated StopTime pedestrian_stop_time = 1;
}
 
message ScenarioStatus {
  // Current scenario type
  optional string scenario_type = 1;
  // Current stage type
  optional string stage_type = 2;
}
 
message StopSignStatus {
  // Id of current stop sign overlap 
  optional string current_stop_sign_overlap_id = 1;
  // Id of just finished stop sign overlap
  optional string done_stop_sign_overlap_id = 2;
  // Obstacles which the vehicle should stop for
  repeated string wait_for_obstacle_id = 3;
}
 
message TrafficLightStatus {
  // Overlap id of current traffic light
  repeated string current_traffic_light_overlap_id = 1;
  // Overlap id of traffic light which is already done
  repeated string done_traffic_light_overlap_id = 2;
}
 
message YieldSignStatus {
  // Overlap id of current yield sign
  repeated string current_yield_sign_overlap_id = 1;
  // Overlap id of current yield sign which is already passed
  repeated string done_yield_sign_overlap_id = 2;
  // Obstacles which the vehicle should stop for
  repeated string wait_for_obstacle_id = 3;
}
 
message LaneFollowStatus {
  // Is lane follow ok
  optional bool lane_follow_block = 1 [default = false];
  // Blocking obstacle id in front of the vehicle
  optional string block_obstacle_id = 2 [default = ""];
  // Last block time
  optional double last_block_timestamp = 3 [default = 0];
  // Duration of block
  optional double block_duration = 4 [default = 0];
}
 
message LaneBorrowStatus {
  // Is lane borrow ok
  optional bool lane_borrow_block = 1 [default = false];
  // Blocking obstacle id in front of the vehicle
  optional string block_obstacle_id = 2 [default = ""];
  // Last block time
  optional double last_block_timestamp = 3 [default = 0];
  // Duration of block
  optional double block_duration = 4 [default = 0];
}
 
// note: please keep this one as minimal as possible. do NOT pollute it.
message PlanningStatus {
  optional ChangeLaneStatus change_lane = 2;
  optional CreepDeciderStatus creep_decider = 3;
  optional CrosswalkStatus crosswalk = 4;
  optional DestinationStatus destination = 5;
  optional EmergencyStopStatus emergency_stop = 6;
  optional OpenSpaceStatus open_space = 7;
  optional ParkAndGoStatus park_and_go = 8;
  optional PathDeciderStatus path_decider = 9;
  optional PullOverStatus pull_over = 10;
  optional ReroutingStatus rerouting = 11;
  optional ScenarioStatus scenario = 12;
  optional SpeedDeciderStatus speed_decider = 13;
  optional StopSignStatus stop_sign = 14;
  optional TrafficLightStatus traffic_light = 15;
  optional YieldSignStatus yield_sign = 16;
  optional LaneFollowStatus lane_follow = 17;
  optional LaneBorrowStatus lane_borrow = 18;
}