Apollo 10.0
自动驾驶开放平台
apollo::common::adapter::AdapterConfig结构体 参考
apollo::common::adapter::AdapterConfig 的协作图:

Public 类型

enum  MessageType {
  POINT_CLOUD = 1 , VLP16_POINT_CLOUD = 58 , GPS = 2 , IMU = 3 ,
  CHASSIS = 4 , LOCALIZATION = 5 , PLANNING_TRAJECTORY = 6 , MONITOR = 7 ,
  PAD = 8 , CONTROL_COMMAND = 9 , CHASSIS_COMMAND = 76 , PREDICTION = 10 ,
  PERCEPTION_OBSTACLES = 11 , TRAFFIC_LIGHT_DETECTION = 12 , CHASSIS_DETAIL = 13 , DECISION = 14 ,
  CANBUS = 15 , ROUTING_REQUEST = 16 , ROUTING_RESPONSE = 17 , RELATIVE_ODOMETRY = 18 ,
  INS_STAT = 19 , HMI_COMMAND = 20 , MOBILEYE = 21 , DELPHIESR = 22 ,
  COMPRESSED_IMAGE = 23 , SYSTEM_STATUS = 24 , INS_STATUS = 25 , GNSS_STATUS = 26 ,
  CONTI_RADAR = 27 , IMAGE_SHORT = 28 , IMAGE_LONG = 29 , DRIVE_EVENT = 30 ,
  GNSS_RTK_OBS = 31 , GNSS_RTK_EPH = 32 , GNSS_BEST_POSE = 33 , LOCALIZATION_MSF_GNSS = 34 ,
  LOCALIZATION_MSF_LIDAR = 35 , LOCALIZATION_MSF_SINS_PVA = 36 , RAW_IMU = 37 , LOCALIZATION_MSF_STATUS = 38 ,
  STATIC_INFO = 39 , RELATIVE_MAP = 40 , NAVIGATION = 41 , ULTRASONIC_RADAR = 42 ,
  AUDIO_CAPTURE = 43 , IMAGE_FRONT = 45 , PANDORA_POINT_CLOUD = 46 , PANDORA_CAMERA_FRONT_COLOR = 47 ,
  PANDORA_CAMERA_RIGHT_GRAY = 48 , PANDORA_CAMERA_LEFT_GRAY = 49 , PANDORA_CAMERA_FRONT_GRAY = 50 , PANDORA_CAMERA_BACK_GRAY = 51 ,
  PERCEPTION_LANE_MASK = 52 , GUARDIAN = 53 , GNSS_RAW_DATA = 54 , STREAM_STATUS = 55 ,
  GNSS_HEADING = 56 , RTCM_DATA = 57 , RACOBIT_RADAR = 59 , POINT_CLOUD_DENSE = 60 ,
  POINT_CLOUD_DENSE_RAW = 61 , VELODYNE_SCAN_DENSE = 62 , POINT_CLOUD_SPARSE_1 = 63 , POINT_CLOUD_SPARSE_RAW_1 = 64 ,
  VELODYNE_SCAN_SPARSE_1 = 65 , POINT_CLOUD_SPARSE_2 = 66 , POINT_CLOUD_SPARSE_RAW_2 = 67 , VELODYNE_SCAN_SPARSE_2 = 68 ,
  POINT_CLOUD_SPARSE_3 = 69 , POINT_CLOUD_SPARSE_RAW_3 = 70 , VELODYNE_SCAN_SPARSE_3 = 71 , CAMERA_IMAGE_LONG = 72 ,
  CAMERA_IMAGE_SHORT = 73 , PLANNING_PAD = 74 , STORYTELLING = 75
}
 
enum  Mode { RECEIVE_ONLY = 0 , PUBLISH_ONLY = 1 , DUPLEX = 2 }
 

Public 属性

optional MessageType type = 1
 
optional Mode mode = 2
 
optional int32 message_history_limit = 3 [default = 10]
 
optional bool latch = 4 [default = false]
 
optional string topic = 5
 

详细描述

在文件 adapter_config.proto6 行定义.

成员枚举类型说明

◆ MessageType

枚举值
POINT_CLOUD 
VLP16_POINT_CLOUD 
GPS 
IMU 
CHASSIS 
LOCALIZATION 
PLANNING_TRAJECTORY 
MONITOR 
PAD 
CONTROL_COMMAND 
CHASSIS_COMMAND 
PREDICTION 
PERCEPTION_OBSTACLES 
TRAFFIC_LIGHT_DETECTION 
CHASSIS_DETAIL 
DECISION 
CANBUS 
ROUTING_REQUEST 
ROUTING_RESPONSE 
RELATIVE_ODOMETRY 
INS_STAT 
HMI_COMMAND 
MOBILEYE 
DELPHIESR 
COMPRESSED_IMAGE 
SYSTEM_STATUS 
INS_STATUS 
GNSS_STATUS 
CONTI_RADAR 
IMAGE_SHORT 
IMAGE_LONG 
DRIVE_EVENT 
GNSS_RTK_OBS 
GNSS_RTK_EPH 
GNSS_BEST_POSE 
LOCALIZATION_MSF_GNSS 
LOCALIZATION_MSF_LIDAR 
LOCALIZATION_MSF_SINS_PVA 
RAW_IMU 
LOCALIZATION_MSF_STATUS 
STATIC_INFO 
RELATIVE_MAP 
NAVIGATION 
ULTRASONIC_RADAR 
AUDIO_CAPTURE 
IMAGE_FRONT 
PANDORA_POINT_CLOUD 
PANDORA_CAMERA_FRONT_COLOR 
PANDORA_CAMERA_RIGHT_GRAY 
PANDORA_CAMERA_LEFT_GRAY 
PANDORA_CAMERA_FRONT_GRAY 
PANDORA_CAMERA_BACK_GRAY 
PERCEPTION_LANE_MASK 
GUARDIAN 
GNSS_RAW_DATA 
STREAM_STATUS 
GNSS_HEADING 
RTCM_DATA 
RACOBIT_RADAR 
POINT_CLOUD_DENSE 
POINT_CLOUD_DENSE_RAW 
VELODYNE_SCAN_DENSE 
POINT_CLOUD_SPARSE_1 
POINT_CLOUD_SPARSE_RAW_1 
VELODYNE_SCAN_SPARSE_1 
POINT_CLOUD_SPARSE_2 
POINT_CLOUD_SPARSE_RAW_2 
VELODYNE_SCAN_SPARSE_2 
POINT_CLOUD_SPARSE_3 
POINT_CLOUD_SPARSE_RAW_3 
VELODYNE_SCAN_SPARSE_3 
CAMERA_IMAGE_LONG 
CAMERA_IMAGE_SHORT 
PLANNING_PAD 
STORYTELLING 

在文件 adapter_config.proto7 行定义.

7 {
8 POINT_CLOUD = 1;
10 GPS = 2;
11 IMU = 3;
12 CHASSIS = 4;
13 LOCALIZATION = 5;
15 MONITOR = 7;
16 PAD = 8;
18 CHASSIS_COMMAND = 76;
19 PREDICTION = 10;
22 CHASSIS_DETAIL = 13;
23 DECISION = 14 [deprecated = true];
24 CANBUS = 15;
25 ROUTING_REQUEST = 16;
28 INS_STAT = 19;
29 HMI_COMMAND = 20 [deprecated = true];
30 MOBILEYE = 21;
31 DELPHIESR = 22;
33 SYSTEM_STATUS = 24;
34 INS_STATUS = 25;
35 GNSS_STATUS = 26;
36 CONTI_RADAR = 27;
37 IMAGE_SHORT = 28;
38 IMAGE_LONG = 29;
39 DRIVE_EVENT = 30;
40 GNSS_RTK_OBS = 31;
41 GNSS_RTK_EPH = 32;
42 GNSS_BEST_POSE = 33;
46 RAW_IMU = 37;
48 STATIC_INFO = 39;
49 RELATIVE_MAP = 40;
50 NAVIGATION = 41;
52 AUDIO_CAPTURE = 43;
53 IMAGE_FRONT = 45;
61 GUARDIAN = 53;
62 GNSS_RAW_DATA = 54;
63 STREAM_STATUS = 55;
64 GNSS_HEADING = 56;
65 RTCM_DATA = 57;
66 RACOBIT_RADAR = 59;
67 // velodyne fusion configs
71
75
79
83
86
87 PLANNING_PAD = 74;
88
89 STORYTELLING = 75;
90 }

◆ Mode

类成员变量说明

◆ latch

optional bool apollo::common::adapter::AdapterConfig::latch = 4 [default = false]

在文件 adapter_config.proto101 行定义.

◆ message_history_limit

optional int32 apollo::common::adapter::AdapterConfig::message_history_limit = 3 [default = 10]

在文件 adapter_config.proto100 行定义.

◆ mode

optional Mode apollo::common::adapter::AdapterConfig::mode = 2

在文件 adapter_config.proto97 行定义.

◆ topic

optional string apollo::common::adapter::AdapterConfig::topic = 5

在文件 adapter_config.proto102 行定义.

◆ type

optional MessageType apollo::common::adapter::AdapterConfig::type = 1

在文件 adapter_config.proto96 行定义.


该结构体的文档由以下文件生成: