Apollo
10.0
自动驾驶开放平台
transport_conf.proto
浏览该文件的文档.
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syntax
=
"proto2"
;
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3
package
apollo.cyber.proto;
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enum
OptionalMode
{
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HYBRID
= 0;
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INTRA
= 1;
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SHM
= 2;
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RTPS
= 3;
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}
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message
ShmMulticastLocator
{
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optional
string
ip = 1;
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optional uint32 port = 2;
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};
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message
ArenaChannelConf
{
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optional
string
channel_name = 1;
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// the acutal arena segment size is equal with max_msg_size * max_pool_size + meta,
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// so max_msg_size * max_pool_size should be less than the limit of ArenaAddressAllocator:
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// 2^31 - 128 * 1024 * 1024, which is hardcode in the underlying implementation
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optional uint64 max_msg_size = 2 [
default
= 33554432];
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optional uint64 max_pool_size = 3 [
default
= 32];
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optional uint64 shared_buffer_size = 4 [
default
= 0];
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};
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message
ArenaShmConf
{
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repeated
ArenaChannelConf
arena_channel_conf = 1;
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};
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message
ShmConf
{
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optional
string
notifier_type = 1;
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optional
string
shm_type = 2;
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optional
ShmMulticastLocator
shm_locator = 3;
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optional
ArenaShmConf
arena_shm_conf = 4;
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};
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message
RtpsParticipantAttr
{
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optional int32 lease_duration = 1 [
default
= 12];
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optional int32 announcement_period = 2 [
default
= 3];
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optional uint32 domain_id_gain = 3 [
default
= 200];
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optional uint32 port_base = 4 [
default
= 10000];
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};
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message
CommunicationMode
{
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optional
OptionalMode
same_proc = 1 [
default
=
INTRA
];
// INTRA SHM RTPS
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optional
OptionalMode
diff_proc = 2 [
default
=
SHM
];
// SHM RTPS
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optional
OptionalMode
diff_host = 3 [
default
=
RTPS
];
// RTPS
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};
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message
ResourceLimit
{
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optional uint32 max_history_depth = 1 [
default
= 1000];
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};
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message
TransportConf
{
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optional
ShmConf
shm_conf = 1;
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optional
RtpsParticipantAttr
participant_attr = 2;
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optional
CommunicationMode
communication_mode = 3;
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optional
ResourceLimit
resource_limit = 4;
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};
apollo::cyber::proto::OptionalMode
OptionalMode
Definition
transport_conf.proto:5
apollo::cyber::proto::INTRA
@ INTRA
Definition
transport_conf.proto:7
apollo::cyber::proto::RTPS
@ RTPS
Definition
transport_conf.proto:9
apollo::cyber::proto::HYBRID
@ HYBRID
Definition
transport_conf.proto:6
apollo::cyber::proto::SHM
@ SHM
Definition
transport_conf.proto:8
apollo::cyber::proto::ArenaChannelConf
Definition
transport_conf.proto:17
apollo::cyber::proto::ArenaShmConf
Definition
transport_conf.proto:27
apollo::cyber::proto::CommunicationMode
Definition
transport_conf.proto:45
apollo::cyber::proto::ResourceLimit
Definition
transport_conf.proto:51
apollo::cyber::proto::RtpsParticipantAttr
Definition
transport_conf.proto:38
apollo::cyber::proto::ShmConf
Definition
transport_conf.proto:31
apollo::cyber::proto::ShmMulticastLocator
Definition
transport_conf.proto:12
apollo::cyber::proto::TransportConf
Definition
transport_conf.proto:55
syntax
syntax
Definition
transport_conf.proto:1
cyber
proto
transport_conf.proto