change pythondecisiondemo add obs dis calc.

src/common/modulecomm/modulecommpython.cpp

@@ -212,7 +212,7 @@ public:
 
     void threadcallback()
     {
-        mySignal.connect(boost::bind(onSignal, std::placeholders::_1));  
+        mySignal.connect(boost::bind(onSignal, _1));  
         while(mbRun)
         {
             std::this_thread::sleep_for(std::chrono::milliseconds(1000));

src/python/pythondecisiondemo/decisiondemo.py

@@ -13,9 +13,14 @@ from datetime import datetime, timedelta
 import time  
 
 class Point2D:
-    def __init__(self, x, y):
+    def __init__(self, x, y,hdg):
         self.mx = x
         self.my = y
+        self.mhdg = hdg
+        while self.mhdg < 0:
+            self.mhdg = self.mhdg + 2.0* math.pi
+        while self.mhdg >= 2.0*math.pi:
+            self.mhdg = self.mhdg - 2.0* math.pi
         
 
     def __str__(self):  
@@ -28,6 +33,9 @@ class DecisionDemo:
         self.mmaxwheel = 430 #最大方向盘角度
         self.mdefaultacc = 1.0  #加速时的acc
         self.mspeed = 10.0  #运行速度10km/h
+        self.mstopdistoobs = 6.0 #在距离障碍物多远停住
+        self.mstopdisacc = -1.0  #有障碍物时的舰速度
+        self.mvehwidth = 2.3
         pass
 
     def CalcDecision(self,tracemap : mapdata_pb2.tracemap, msg_gpsimu : gpsimu_pb2.gpsimu,xobjarray : objectarray_pb2.objectarray):
@@ -48,7 +56,7 @@ class DecisionDemo:
 
         realspeed = 3.6 * math.sqrt(math.pow(msg_gpsimu.vn,2) + math.pow(msg_gpsimu.ve,2))
 
-        acc,wheel,speed = self.CalcCmd(localpoints,realspeed)
+        acc,wheel,speed = self.CalcCmd(localpoints,realspeed,xobjarray)
 
         #calc end acc, stop to end point
         endacc = 0.0
@@ -92,7 +100,7 @@ class DecisionDemo:
     
 
 
-    def CalcCmd(self,localpoints : List[Point2D],realspeed):
+    def CalcCmd(self,localpoints : List[Point2D],realspeed,xobjarray : objectarray_pb2.objectarray):
         desiredspeed = self.mspeed
         defaultacc = self.mdefaultacc
         pd = realspeed * 0.3
@@ -134,7 +142,69 @@ class DecisionDemo:
                 else:
                     acc = 0.0
         
+        obsdis = 0
+        bhaveobs = False
 
+        i = 0
+        gridsize = 0.2
+        gridcount = int((self.mvehwidth/2.0)/gridsize)*2
+        xwid = gridcount * gridsize
+        if xwid < self.mvehwidth:
+            gridcount = gridcount +2
+        while i< size:
+            if i > 0:
+                obsdis = obsdis + math.sqrt(math.pow(localpoints[i].mx - localpoints[i-1].mx,2)
+                                            +math.pow(localpoints[i].my - localpoints[i-1].my,2))
+
+            nobjsize = len(xobjarray.obj)
+            j = 0
+            bprob = False  #查看有没有可能
+            for pobj in xobjarray.obj:
+                dis = math.sqrt(math.pow(localpoints[i].mx - pobj.position.x,2)+ math.pow(localpoints[i].my - pobj.position.y,2))
+ #               print("dis: ",dis)
+ #               print("dimen: ",pobj.dimensions.x)
+                if (dis < (self.mvehwidth/2.0 + pobj.dimensions.x)) or (dis < (self.mvehwidth/2.0 + pobj.dimensions.y)):
+                    bprob = True
+                if (bprob == True):
+                    break
+            if bprob == False:
+                i = i+1
+                continue
+            j =0
+            while j <= gridcount:
+                off = (j - gridcount/2)*gridsize
+                xpos = localpoints[i].mx + off * math.cos(localpoints[i].mhdg + math.pi/2.0)
+                ypos = localpoints[i].my + off * math.sin(localpoints[i].mhdg + math.pi/2.0)
+                for pobj in xobjarray.obj:
+                    bres = self.is_point_in_rotated_rectangle(xpos,ypos,pobj.position.x,pobj.position.y,pobj.tyaw,
+                                                              pobj.dimensions.x,pobj.dimensions.y)
+                    if bres == True:
+                        bhaveobs = True
+                        break
+                if bhaveobs == True:
+                    break
+                j = j+1
+            if bhaveobs == True:
+                break
+            i = i+1
+
+        if bhaveobs == True :
+            print("obs dis: ",obsdis)
+            vel = realspeed/3.6
+            srange = vel*vel/(2*(math.fabs(self.mstopdisacc)/2.0)) + self.mstopdistoobs
+            if obsdis <= srange:
+                if obsdis < (self.mstopdistoobs + 0.1):
+                    stopacc  = -3.0
+                    if acc > stopacc:
+                        acc = stopacc
+                else :
+                    stopacc = -1.0*vel * vel/(2.0*(obsdis - self.mstopdistoobs))
+                    if acc > stopacc:
+                        acc = stopacc
+            if obsdis < self.mstopdistoobs * 1.1:
+                if acc >= 0:
+                    acc = self.mstopdisacc
+    
 #        print("ppindex : ",ppindex)
         denominator = 2 * localpoints[ppindex].mx *(-1);
         numerator = math.pow(localpoints[ppindex].mx,2) + pow(localpoints[ppindex].my,2);
@@ -180,7 +250,7 @@ class DecisionDemo:
         x0,y0 = self.GaussProj(xgpsimu.lon,xgpsimu.lat)
         localpoints = []
         i = index
-        npoint = 0;
+        npoint = 0
         nmaxpoint = 600
         length = len(xtracemap.point)
         distoend = 0;
@@ -189,12 +259,14 @@ class DecisionDemo:
             yraw = xtracemap.point[i].gps_y - y0
      #       print(f"i: {i-index} xraw:{xraw} yraw:{yraw} ")
             theta = (90 - xgpsimu.heading) * math.pi /180.0
+            thetaraw = theta
+            pointhead = (90 - xtracemap.point[i].ins_heading_angle ) * math.pi/180.0;
             theta = theta * (-1)
             theta = theta  + math.pi/2.0
             x = xraw * math.cos(theta) - yraw * math.sin(theta)
             y = xraw * math.sin(theta) + yraw * math.cos(theta)
-     #       print(f"i: {i-index} x:{x} y:{y} ")
-            localpoints.append(Point2D(x,y))
+ #           print(f"i: {i-index} x:{x} y:{y} hdg:{pointhead - thetaraw  + math.pi/2.0}")
+            localpoints.append(Point2D(x,y, pointhead - thetaraw  + math.pi/2.0))
             if i>index :
                 distoend = distoend + math.sqrt(math.pow(xtracemap.point[i].gps_x - xtracemap.point[i-1].gps_x,2) 
                                                 + math.pow(xtracemap.point[i].gps_y - xtracemap.point[i-1].gps_y,2))

src/python/pythondecisiondemo/proto/chassis_pb2.py

@@ -1,10 +1,10 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
 # source: chassis.proto
-"""Generated protocol buffer code."""
-from google.protobuf.internal import builder as _builder
+
 from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
 # @@protoc_insertion_point(imports)
 
@@ -13,13 +13,226 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\rchassis.proto\x12\x02iv\"\xdc\x04\n\x07\x63hassis\x12\x0c\n\x04time\x18\x01 \x01(\x03\x12\x12\n\x07\x45PSMode\x18\x02 \x01(\x05:\x01\x30\x12\x13\n\x08\x45PBFault\x18\x03 \x01(\x05:\x01\x30\x12\x11\n\tDriveMode\x18\x04 \x01(\x05\x12\r\n\x05Shift\x18\x05 \x01(\x05\x12\x14\n\x0c\x41\x45\x42\x41vailable\x18\x06 \x01(\x05\x12\x14\n\x0c\x43\x44\x44\x41vailable\x18\x07 \x01(\x05\x12\x16\n\x0e\x61ngle_feedback\x18\x08 \x01(\x05\x12\x0e\n\x06torque\x18\t \x01(\x02\x12\x0b\n\x03vel\x18\n \x01(\x02\x12\x0f\n\x07\x61\x63\x63step\x18\x0b \x01(\x02\x12\x0b\n\x03soc\x18\x0c \x01(\x02\x12\x16\n\x0e\x62rake_feedback\x18\r \x01(\x02\x12\x14\n\x0c\x45PB_feedback\x18\x0e \x01(\x05\x12\x1e\n\x16\x45mergencyStop_feedback\x18\x0f \x01(\x05\x12\x1b\n\x13\x62rakelight_feedback\x18\x10 \x01(\x05\x12\x16\n\x0erange_feedback\x18\x11 \x01(\x02\x12\x1e\n\x16\x64rivectrltype_feedback\x18\x12 \x01(\x05\x12\x1e\n\x16\x62rakectrltype_feedback\x18\x13 \x01(\x05\x12\x1c\n\x14\x65psctrltype_feedback\x18\x14 \x01(\x05\x12\x1f\n\x17\x66rontleftwheel_feedback\x18\x15 \x01(\x02\x12 \n\x18\x66rontrightwheel_feedback\x18\x16 \x01(\x02\x12\x1e\n\x16rearleftwheel_feedback\x18\x17 \x01(\x02\x12\x1f\n\x17rearrightwheel_feedback\x18\x18 \x01(\x02\x12\x14\n\x0c\x65ngine_speed\x18\x19 \x01(\x02')
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='chassis.proto',
+  package='iv',
+  syntax='proto2',
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\rchassis.proto\x12\x02iv\"\xdc\x04\n\x07\x63hassis\x12\x0c\n\x04time\x18\x01 \x01(\x03\x12\x12\n\x07\x45PSMode\x18\x02 \x01(\x05:\x01\x30\x12\x13\n\x08\x45PBFault\x18\x03 \x01(\x05:\x01\x30\x12\x11\n\tDriveMode\x18\x04 \x01(\x05\x12\r\n\x05Shift\x18\x05 \x01(\x05\x12\x14\n\x0c\x41\x45\x42\x41vailable\x18\x06 \x01(\x05\x12\x14\n\x0c\x43\x44\x44\x41vailable\x18\x07 \x01(\x05\x12\x16\n\x0e\x61ngle_feedback\x18\x08 \x01(\x05\x12\x0e\n\x06torque\x18\t \x01(\x02\x12\x0b\n\x03vel\x18\n \x01(\x02\x12\x0f\n\x07\x61\x63\x63step\x18\x0b \x01(\x02\x12\x0b\n\x03soc\x18\x0c \x01(\x02\x12\x16\n\x0e\x62rake_feedback\x18\r \x01(\x02\x12\x14\n\x0c\x45PB_feedback\x18\x0e \x01(\x05\x12\x1e\n\x16\x45mergencyStop_feedback\x18\x0f \x01(\x05\x12\x1b\n\x13\x62rakelight_feedback\x18\x10 \x01(\x05\x12\x16\n\x0erange_feedback\x18\x11 \x01(\x02\x12\x1e\n\x16\x64rivectrltype_feedback\x18\x12 \x01(\x05\x12\x1e\n\x16\x62rakectrltype_feedback\x18\x13 \x01(\x05\x12\x1c\n\x14\x65psctrltype_feedback\x18\x14 \x01(\x05\x12\x1f\n\x17\x66rontleftwheel_feedback\x18\x15 \x01(\x02\x12 \n\x18\x66rontrightwheel_feedback\x18\x16 \x01(\x02\x12\x1e\n\x16rearleftwheel_feedback\x18\x17 \x01(\x02\x12\x1f\n\x17rearrightwheel_feedback\x18\x18 \x01(\x02\x12\x14\n\x0c\x65ngine_speed\x18\x19 \x01(\x02'
+)
+
+
+
+
+_CHASSIS = _descriptor.Descriptor(
+  name='chassis',
+  full_name='iv.chassis',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='time', full_name='iv.chassis.time', index=0,
+      number=1, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='EPSMode', full_name='iv.chassis.EPSMode', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=True, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='EPBFault', full_name='iv.chassis.EPBFault', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=True, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='DriveMode', full_name='iv.chassis.DriveMode', index=3,
+      number=4, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Shift', full_name='iv.chassis.Shift', index=4,
+      number=5, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='AEBAvailable', full_name='iv.chassis.AEBAvailable', index=5,
+      number=6, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='CDDAvailable', full_name='iv.chassis.CDDAvailable', index=6,
+      number=7, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='angle_feedback', full_name='iv.chassis.angle_feedback', index=7,
+      number=8, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='torque', full_name='iv.chassis.torque', index=8,
+      number=9, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='vel', full_name='iv.chassis.vel', index=9,
+      number=10, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='accstep', full_name='iv.chassis.accstep', index=10,
+      number=11, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='soc', full_name='iv.chassis.soc', index=11,
+      number=12, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='brake_feedback', full_name='iv.chassis.brake_feedback', index=12,
+      number=13, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='EPB_feedback', full_name='iv.chassis.EPB_feedback', index=13,
+      number=14, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='EmergencyStop_feedback', full_name='iv.chassis.EmergencyStop_feedback', index=14,
+      number=15, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='brakelight_feedback', full_name='iv.chassis.brakelight_feedback', index=15,
+      number=16, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='range_feedback', full_name='iv.chassis.range_feedback', index=16,
+      number=17, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='drivectrltype_feedback', full_name='iv.chassis.drivectrltype_feedback', index=17,
+      number=18, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='brakectrltype_feedback', full_name='iv.chassis.brakectrltype_feedback', index=18,
+      number=19, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='epsctrltype_feedback', full_name='iv.chassis.epsctrltype_feedback', index=19,
+      number=20, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frontleftwheel_feedback', full_name='iv.chassis.frontleftwheel_feedback', index=20,
+      number=21, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frontrightwheel_feedback', full_name='iv.chassis.frontrightwheel_feedback', index=21,
+      number=22, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='rearleftwheel_feedback', full_name='iv.chassis.rearleftwheel_feedback', index=22,
+      number=23, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='rearrightwheel_feedback', full_name='iv.chassis.rearrightwheel_feedback', index=23,
+      number=24, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='engine_speed', full_name='iv.chassis.engine_speed', index=24,
+      number=25, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=22,
+  serialized_end=626,
+)
+
+DESCRIPTOR.message_types_by_name['chassis'] = _CHASSIS
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+chassis = _reflection.GeneratedProtocolMessageType('chassis', (_message.Message,), {
+  'DESCRIPTOR' : _CHASSIS,
+  '__module__' : 'chassis_pb2'
+  # @@protoc_insertion_point(class_scope:iv.chassis)
+  })
+_sym_db.RegisterMessage(chassis)
 
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'chassis_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
 
-  DESCRIPTOR._options = None
-  _CHASSIS._serialized_start=22
-  _CHASSIS._serialized_end=626
 # @@protoc_insertion_point(module_scope)

src/python/pythondecisiondemo/proto/object_pb2.py

@@ -1,10 +1,10 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
 # source: object.proto
-"""Generated protocol buffer code."""
-from google.protobuf.internal import builder as _builder
+
 from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
 # @@protoc_insertion_point(imports)
 
@@ -13,21 +13,414 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0cobject.proto\x12\x08iv.lidar\"I\n\tPointXYZI\x12\x0e\n\x01x\x18\x01 \x01(\x02:\x03nan\x12\x0e\n\x01y\x18\x02 \x01(\x02:\x03nan\x12\x0e\n\x01z\x18\x03 \x01(\x02:\x03nan\x12\x0c\n\x01i\x18\x04 \x01(\x02:\x01\x30\":\n\x08PointXYZ\x12\x0e\n\x01x\x18\x01 \x01(\x02:\x03nan\x12\x0e\n\x01y\x18\x02 \x01(\x02:\x03nan\x12\x0e\n\x01z\x18\x03 \x01(\x02:\x03nan\"5\n\tDimension\x12\x0c\n\x01x\x18\x01 \x01(\x02:\x01\x30\x12\x0c\n\x01y\x18\x02 \x01(\x02:\x01\x30\x12\x0c\n\x01z\x18\x03 \x01(\x02:\x01\x30\"#\n\x05VelXY\x12\x0c\n\x01x\x18\x01 \x01(\x02:\x01\x30\x12\x0c\n\x01y\x18\x02 \x01(\x02:\x01\x30\"\xa1\x04\n\x0blidarobject\x12%\n\tmin_point\x18\x01 \x01(\x0b\x32\x12.iv.lidar.PointXYZ\x12%\n\tmax_point\x18\x02 \x01(\x0b\x32\x12.iv.lidar.PointXYZ\x12$\n\x08\x63\x65ntroid\x18\x03 \x01(\x0b\x32\x12.iv.lidar.PointXYZ\x12\'\n\ndimensions\x18\x04 \x01(\x0b\x32\x13.iv.lidar.Dimension\x12$\n\x08position\x18\x05 \x01(\x0b\x32\x12.iv.lidar.PointXYZ\x12\r\n\x05\x61ngle\x18\x06 \x01(\x01\x12\x19\n\x11velocity_linear_x\x18\x07 \x01(\x01\x12\x1d\n\x15\x61\x63\x63\x65leration_linear_y\x18\x08 \x01(\x01\x12\x11\n\ttimestamp\x18\t \x01(\x01\x12\x0c\n\x04tyaw\x18\n \x01(\x01\x12\x0e\n\x06mnType\x18\x0b \x02(\x05\x12\n\n\x02id\x18\x0c \x01(\x05\x12\x16\n\x0e\x62\x65havior_state\x18\r \x01(\x05\x12\r\n\x05score\x18\x0e \x01(\x02\x12\x19\n\x11velocity_reliable\x18\x0f \x01(\x08\x12\x15\n\rpose_reliable\x18\x10 \x01(\x08\x12\x12\n\ntype_probs\x18\x11 \x03(\x02\x12\"\n\x05\x63loud\x18\x12 \x03(\x0b\x32\x13.iv.lidar.PointXYZI\x12\x11\n\ttype_name\x18\x13 \x01(\t\x12%\n\x0cvel_relative\x18\x14 \x01(\x0b\x32\x0f.iv.lidar.VelXY')
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='object.proto',
+  package='iv.lidar',
+  syntax='proto2',
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x0cobject.proto\x12\x08iv.lidar\"I\n\tPointXYZI\x12\x0e\n\x01x\x18\x01 \x01(\x02:\x03nan\x12\x0e\n\x01y\x18\x02 \x01(\x02:\x03nan\x12\x0e\n\x01z\x18\x03 \x01(\x02:\x03nan\x12\x0c\n\x01i\x18\x04 \x01(\x02:\x01\x30\":\n\x08PointXYZ\x12\x0e\n\x01x\x18\x01 \x01(\x02:\x03nan\x12\x0e\n\x01y\x18\x02 \x01(\x02:\x03nan\x12\x0e\n\x01z\x18\x03 \x01(\x02:\x03nan\"5\n\tDimension\x12\x0c\n\x01x\x18\x01 \x01(\x02:\x01\x30\x12\x0c\n\x01y\x18\x02 \x01(\x02:\x01\x30\x12\x0c\n\x01z\x18\x03 \x01(\x02:\x01\x30\"#\n\x05VelXY\x12\x0c\n\x01x\x18\x01 \x01(\x02:\x01\x30\x12\x0c\n\x01y\x18\x02 \x01(\x02:\x01\x30\"\xa1\x04\n\x0blidarobject\x12%\n\tmin_point\x18\x01 \x01(\x0b\x32\x12.iv.lidar.PointXYZ\x12%\n\tmax_point\x18\x02 \x01(\x0b\x32\x12.iv.lidar.PointXYZ\x12$\n\x08\x63\x65ntroid\x18\x03 \x01(\x0b\x32\x12.iv.lidar.PointXYZ\x12\'\n\ndimensions\x18\x04 \x01(\x0b\x32\x13.iv.lidar.Dimension\x12$\n\x08position\x18\x05 \x01(\x0b\x32\x12.iv.lidar.PointXYZ\x12\r\n\x05\x61ngle\x18\x06 \x01(\x01\x12\x19\n\x11velocity_linear_x\x18\x07 \x01(\x01\x12\x1d\n\x15\x61\x63\x63\x65leration_linear_y\x18\x08 \x01(\x01\x12\x11\n\ttimestamp\x18\t \x01(\x01\x12\x0c\n\x04tyaw\x18\n \x01(\x01\x12\x0e\n\x06mnType\x18\x0b \x02(\x05\x12\n\n\x02id\x18\x0c \x01(\x05\x12\x16\n\x0e\x62\x65havior_state\x18\r \x01(\x05\x12\r\n\x05score\x18\x0e \x01(\x02\x12\x19\n\x11velocity_reliable\x18\x0f \x01(\x08\x12\x15\n\rpose_reliable\x18\x10 \x01(\x08\x12\x12\n\ntype_probs\x18\x11 \x03(\x02\x12\"\n\x05\x63loud\x18\x12 \x03(\x0b\x32\x13.iv.lidar.PointXYZI\x12\x11\n\ttype_name\x18\x13 \x01(\t\x12%\n\x0cvel_relative\x18\x14 \x01(\x0b\x32\x0f.iv.lidar.VelXY'
+)
+
+
+
+
+_POINTXYZI = _descriptor.Descriptor(
+  name='PointXYZI',
+  full_name='iv.lidar.PointXYZI',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='iv.lidar.PointXYZI.x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=(1e10000 * 0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='iv.lidar.PointXYZI.y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=(1e10000 * 0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='iv.lidar.PointXYZI.z', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=(1e10000 * 0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='i', full_name='iv.lidar.PointXYZI.i', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=26,
+  serialized_end=99,
+)
+
+
+_POINTXYZ = _descriptor.Descriptor(
+  name='PointXYZ',
+  full_name='iv.lidar.PointXYZ',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='iv.lidar.PointXYZ.x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=(1e10000 * 0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='iv.lidar.PointXYZ.y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=(1e10000 * 0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='iv.lidar.PointXYZ.z', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=(1e10000 * 0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=101,
+  serialized_end=159,
+)
+
+
+_DIMENSION = _descriptor.Descriptor(
+  name='Dimension',
+  full_name='iv.lidar.Dimension',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='iv.lidar.Dimension.x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='iv.lidar.Dimension.y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='iv.lidar.Dimension.z', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=161,
+  serialized_end=214,
+)
+
+
+_VELXY = _descriptor.Descriptor(
+  name='VelXY',
+  full_name='iv.lidar.VelXY',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='iv.lidar.VelXY.x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='iv.lidar.VelXY.y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=True, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=216,
+  serialized_end=251,
+)
+
+
+_LIDAROBJECT = _descriptor.Descriptor(
+  name='lidarobject',
+  full_name='iv.lidar.lidarobject',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='min_point', full_name='iv.lidar.lidarobject.min_point', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='max_point', full_name='iv.lidar.lidarobject.max_point', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='centroid', full_name='iv.lidar.lidarobject.centroid', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='dimensions', full_name='iv.lidar.lidarobject.dimensions', index=3,
+      number=4, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='position', full_name='iv.lidar.lidarobject.position', index=4,
+      number=5, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='angle', full_name='iv.lidar.lidarobject.angle', index=5,
+      number=6, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocity_linear_x', full_name='iv.lidar.lidarobject.velocity_linear_x', index=6,
+      number=7, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='acceleration_linear_y', full_name='iv.lidar.lidarobject.acceleration_linear_y', index=7,
+      number=8, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='timestamp', full_name='iv.lidar.lidarobject.timestamp', index=8,
+      number=9, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='tyaw', full_name='iv.lidar.lidarobject.tyaw', index=9,
+      number=10, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='mnType', full_name='iv.lidar.lidarobject.mnType', index=10,
+      number=11, type=5, cpp_type=1, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='id', full_name='iv.lidar.lidarobject.id', index=11,
+      number=12, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='behavior_state', full_name='iv.lidar.lidarobject.behavior_state', index=12,
+      number=13, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='score', full_name='iv.lidar.lidarobject.score', index=13,
+      number=14, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocity_reliable', full_name='iv.lidar.lidarobject.velocity_reliable', index=14,
+      number=15, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='pose_reliable', full_name='iv.lidar.lidarobject.pose_reliable', index=15,
+      number=16, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='type_probs', full_name='iv.lidar.lidarobject.type_probs', index=16,
+      number=17, type=2, cpp_type=6, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='cloud', full_name='iv.lidar.lidarobject.cloud', index=17,
+      number=18, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='type_name', full_name='iv.lidar.lidarobject.type_name', index=18,
+      number=19, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='vel_relative', full_name='iv.lidar.lidarobject.vel_relative', index=19,
+      number=20, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=254,
+  serialized_end=799,
+)
+
+_LIDAROBJECT.fields_by_name['min_point'].message_type = _POINTXYZ
+_LIDAROBJECT.fields_by_name['max_point'].message_type = _POINTXYZ
+_LIDAROBJECT.fields_by_name['centroid'].message_type = _POINTXYZ
+_LIDAROBJECT.fields_by_name['dimensions'].message_type = _DIMENSION
+_LIDAROBJECT.fields_by_name['position'].message_type = _POINTXYZ
+_LIDAROBJECT.fields_by_name['cloud'].message_type = _POINTXYZI
+_LIDAROBJECT.fields_by_name['vel_relative'].message_type = _VELXY
+DESCRIPTOR.message_types_by_name['PointXYZI'] = _POINTXYZI
+DESCRIPTOR.message_types_by_name['PointXYZ'] = _POINTXYZ
+DESCRIPTOR.message_types_by_name['Dimension'] = _DIMENSION
+DESCRIPTOR.message_types_by_name['VelXY'] = _VELXY
+DESCRIPTOR.message_types_by_name['lidarobject'] = _LIDAROBJECT
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+PointXYZI = _reflection.GeneratedProtocolMessageType('PointXYZI', (_message.Message,), {
+  'DESCRIPTOR' : _POINTXYZI,
+  '__module__' : 'object_pb2'
+  # @@protoc_insertion_point(class_scope:iv.lidar.PointXYZI)
+  })
+_sym_db.RegisterMessage(PointXYZI)
+
+PointXYZ = _reflection.GeneratedProtocolMessageType('PointXYZ', (_message.Message,), {
+  'DESCRIPTOR' : _POINTXYZ,
+  '__module__' : 'object_pb2'
+  # @@protoc_insertion_point(class_scope:iv.lidar.PointXYZ)
+  })
+_sym_db.RegisterMessage(PointXYZ)
+
+Dimension = _reflection.GeneratedProtocolMessageType('Dimension', (_message.Message,), {
+  'DESCRIPTOR' : _DIMENSION,
+  '__module__' : 'object_pb2'
+  # @@protoc_insertion_point(class_scope:iv.lidar.Dimension)
+  })
+_sym_db.RegisterMessage(Dimension)
+
+VelXY = _reflection.GeneratedProtocolMessageType('VelXY', (_message.Message,), {
+  'DESCRIPTOR' : _VELXY,
+  '__module__' : 'object_pb2'
+  # @@protoc_insertion_point(class_scope:iv.lidar.VelXY)
+  })
+_sym_db.RegisterMessage(VelXY)
+
+lidarobject = _reflection.GeneratedProtocolMessageType('lidarobject', (_message.Message,), {
+  'DESCRIPTOR' : _LIDAROBJECT,
+  '__module__' : 'object_pb2'
+  # @@protoc_insertion_point(class_scope:iv.lidar.lidarobject)
+  })
+_sym_db.RegisterMessage(lidarobject)
 
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'object_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
 
-  DESCRIPTOR._options = None
-  _POINTXYZI._serialized_start=26
-  _POINTXYZI._serialized_end=99
-  _POINTXYZ._serialized_start=101
-  _POINTXYZ._serialized_end=159
-  _DIMENSION._serialized_start=161
-  _DIMENSION._serialized_end=214
-  _VELXY._serialized_start=216
-  _VELXY._serialized_end=251
-  _LIDAROBJECT._serialized_start=254
-  _LIDAROBJECT._serialized_end=799
 # @@protoc_insertion_point(module_scope)

src/python/pythondecisiondemo/proto/objectarray_pb2.py

@@ -1,10 +1,10 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
 # source: objectarray.proto
-"""Generated protocol buffer code."""
-from google.protobuf.internal import builder as _builder
+
 from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
 # @@protoc_insertion_point(imports)
 
@@ -14,13 +14,67 @@ _sym_db = _symbol_database.Default()
 from . import object_pb2 as object__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x11objectarray.proto\x12\x08iv.lidar\x1a\x0cobject.proto\"D\n\x0bobjectarray\x12\"\n\x03obj\x18\x01 \x03(\x0b\x32\x15.iv.lidar.lidarobject\x12\x11\n\ttimestamp\x18\x02 \x01(\x01')
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='objectarray.proto',
+  package='iv.lidar',
+  syntax='proto2',
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x11objectarray.proto\x12\x08iv.lidar\x1a\x0cobject.proto\"D\n\x0bobjectarray\x12\"\n\x03obj\x18\x01 \x03(\x0b\x32\x15.iv.lidar.lidarobject\x12\x11\n\ttimestamp\x18\x02 \x01(\x01'
+  ,
+  dependencies=[object__pb2.DESCRIPTOR,])
+
+
+
+
+_OBJECTARRAY = _descriptor.Descriptor(
+  name='objectarray',
+  full_name='iv.lidar.objectarray',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='obj', full_name='iv.lidar.objectarray.obj', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='timestamp', full_name='iv.lidar.objectarray.timestamp', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=45,
+  serialized_end=113,
+)
+
+_OBJECTARRAY.fields_by_name['obj'].message_type = object__pb2._LIDAROBJECT
+DESCRIPTOR.message_types_by_name['objectarray'] = _OBJECTARRAY
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+objectarray = _reflection.GeneratedProtocolMessageType('objectarray', (_message.Message,), {
+  'DESCRIPTOR' : _OBJECTARRAY,
+  '__module__' : 'objectarray_pb2'
+  # @@protoc_insertion_point(class_scope:iv.lidar.objectarray)
+  })
+_sym_db.RegisterMessage(objectarray)
 
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'objectarray_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
 
-  DESCRIPTOR._options = None
-  _OBJECTARRAY._serialized_start=45
-  _OBJECTARRAY._serialized_end=113
 # @@protoc_insertion_point(module_scope)

src/python/pythondecisiondemo/proto/radarobjectarray_pb2.py

@@ -1,10 +1,10 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
 # source: radarobjectarray.proto
-"""Generated protocol buffer code."""
-from google.protobuf.internal import builder as _builder
+
 from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
 # @@protoc_insertion_point(imports)
 
@@ -14,13 +14,284 @@ _sym_db = _symbol_database.Default()
 import radarobject_pb2 as radarobject__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16radarobjectarray.proto\x12\x08iv.radar\x1a\x11radarobject.proto\"\xd0\x06\n\x10radarobjectarray\x12\"\n\x03obj\x18\x01 \x03(\x0b\x32\x15.iv.radar.radarobject\x12\x0e\n\x06mstime\x18\x02 \x01(\x03\x12\x16\n\x0e\x41\x43\x43_Sta_Obj_ID\x18\x03 \x01(\x05\x12\x16\n\x0e\x41\x43\x43_Mov_Obj_ID\x18\x04 \x01(\x05\x12\x17\n\x0f\x43MbB_Sta_Obj_ID\x18\x05 \x01(\x05\x12\x17\n\x0f\x43MbB_Mov_Obj_ID\x18\x06 \x01(\x05\x12\x16\n\x0e\x46\x43W_Sta_Obj_ID\x18\x07 \x01(\x05\x12\x16\n\x0e\x46\x43W_Mov_Obj_ID\x18\x08 \x01(\x05\x12\x18\n\x10Grating_Lobe_Det\x18\t \x01(\x08\x12\x18\n\x10Truck_Target_Det\x18\n \x01(\x08\x12\x1d\n\x15Water_Spray_Target_ID\x18\x0b \x01(\x05\x12\x1e\n\x16\x46iltered_XOHP_ACC_CIPV\x18\x0c \x01(\x01\x12\x15\n\rPath_ID_ACC_2\x18\r \x01(\x05\x12\x15\n\rPath_ID_ACC_3\x18\x0e \x01(\x05\x12\x16\n\x0eInternal_Error\x18\x0f \x01(\x08\x12\x18\n\x10Range_Perf_Error\x18\x10 \x01(\x08\x12\x16\n\x0eOverheat_Error\x18\x11 \x01(\x08\x12\x16\n\x0eValid_LR_Range\x18\x12 \x01(\x01\x12\x1b\n\x13Valid_LR_Range_Rate\x18\x13 \x01(\x01\x12\x16\n\x0eValid_LR_Angle\x18\x14 \x01(\x01\x12\x16\n\x0eValid_LR_Power\x18\x15 \x01(\x01\x12\x16\n\x0eValid_MR_Range\x18\x16 \x01(\x01\x12\x1b\n\x13Valid_MR_Range_Rate\x18\x17 \x01(\x01\x12\x16\n\x0eValid_MR_Angle\x18\x18 \x01(\x01\x12\x16\n\x0eValid_MR_Power\x18\x19 \x01(\x01\x12\x18\n\x10Persistent_Error\x18\x1a \x01(\x08\x12\x1a\n\x12Interference_Error\x18\x1b \x01(\x08\x12\x19\n\x11Temperature_Error\x18\x1c \x01(\x08\x12\x17\n\x0fTemporary_Error\x18\x1d \x01(\x08\x12\x15\n\rVoltage_Error\x18\x1e \x01(\x08\x12\x12\n\nSpeed_Loss\x18\x1f \x01(\x08\x12\x15\n\rYaw_Rate_Loss\x18  \x01(\x08\x12\x15\n\rRadar_Version\x18! \x01(\t')
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='radarobjectarray.proto',
+  package='iv.radar',
+  syntax='proto2',
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x16radarobjectarray.proto\x12\x08iv.radar\x1a\x11radarobject.proto\"\xd0\x06\n\x10radarobjectarray\x12\"\n\x03obj\x18\x01 \x03(\x0b\x32\x15.iv.radar.radarobject\x12\x0e\n\x06mstime\x18\x02 \x01(\x03\x12\x16\n\x0e\x41\x43\x43_Sta_Obj_ID\x18\x03 \x01(\x05\x12\x16\n\x0e\x41\x43\x43_Mov_Obj_ID\x18\x04 \x01(\x05\x12\x17\n\x0f\x43MbB_Sta_Obj_ID\x18\x05 \x01(\x05\x12\x17\n\x0f\x43MbB_Mov_Obj_ID\x18\x06 \x01(\x05\x12\x16\n\x0e\x46\x43W_Sta_Obj_ID\x18\x07 \x01(\x05\x12\x16\n\x0e\x46\x43W_Mov_Obj_ID\x18\x08 \x01(\x05\x12\x18\n\x10Grating_Lobe_Det\x18\t \x01(\x08\x12\x18\n\x10Truck_Target_Det\x18\n \x01(\x08\x12\x1d\n\x15Water_Spray_Target_ID\x18\x0b \x01(\x05\x12\x1e\n\x16\x46iltered_XOHP_ACC_CIPV\x18\x0c \x01(\x01\x12\x15\n\rPath_ID_ACC_2\x18\r \x01(\x05\x12\x15\n\rPath_ID_ACC_3\x18\x0e \x01(\x05\x12\x16\n\x0eInternal_Error\x18\x0f \x01(\x08\x12\x18\n\x10Range_Perf_Error\x18\x10 \x01(\x08\x12\x16\n\x0eOverheat_Error\x18\x11 \x01(\x08\x12\x16\n\x0eValid_LR_Range\x18\x12 \x01(\x01\x12\x1b\n\x13Valid_LR_Range_Rate\x18\x13 \x01(\x01\x12\x16\n\x0eValid_LR_Angle\x18\x14 \x01(\x01\x12\x16\n\x0eValid_LR_Power\x18\x15 \x01(\x01\x12\x16\n\x0eValid_MR_Range\x18\x16 \x01(\x01\x12\x1b\n\x13Valid_MR_Range_Rate\x18\x17 \x01(\x01\x12\x16\n\x0eValid_MR_Angle\x18\x18 \x01(\x01\x12\x16\n\x0eValid_MR_Power\x18\x19 \x01(\x01\x12\x18\n\x10Persistent_Error\x18\x1a \x01(\x08\x12\x1a\n\x12Interference_Error\x18\x1b \x01(\x08\x12\x19\n\x11Temperature_Error\x18\x1c \x01(\x08\x12\x17\n\x0fTemporary_Error\x18\x1d \x01(\x08\x12\x15\n\rVoltage_Error\x18\x1e \x01(\x08\x12\x12\n\nSpeed_Loss\x18\x1f \x01(\x08\x12\x15\n\rYaw_Rate_Loss\x18  \x01(\x08\x12\x15\n\rRadar_Version\x18! \x01(\t'
+  ,
+  dependencies=[radarobject__pb2.DESCRIPTOR,])
+
+
+
+
+_RADAROBJECTARRAY = _descriptor.Descriptor(
+  name='radarobjectarray',
+  full_name='iv.radar.radarobjectarray',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='obj', full_name='iv.radar.radarobjectarray.obj', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='mstime', full_name='iv.radar.radarobjectarray.mstime', index=1,
+      number=2, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='ACC_Sta_Obj_ID', full_name='iv.radar.radarobjectarray.ACC_Sta_Obj_ID', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='ACC_Mov_Obj_ID', full_name='iv.radar.radarobjectarray.ACC_Mov_Obj_ID', index=3,
+      number=4, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='CMbB_Sta_Obj_ID', full_name='iv.radar.radarobjectarray.CMbB_Sta_Obj_ID', index=4,
+      number=5, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='CMbB_Mov_Obj_ID', full_name='iv.radar.radarobjectarray.CMbB_Mov_Obj_ID', index=5,
+      number=6, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='FCW_Sta_Obj_ID', full_name='iv.radar.radarobjectarray.FCW_Sta_Obj_ID', index=6,
+      number=7, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='FCW_Mov_Obj_ID', full_name='iv.radar.radarobjectarray.FCW_Mov_Obj_ID', index=7,
+      number=8, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Grating_Lobe_Det', full_name='iv.radar.radarobjectarray.Grating_Lobe_Det', index=8,
+      number=9, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Truck_Target_Det', full_name='iv.radar.radarobjectarray.Truck_Target_Det', index=9,
+      number=10, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Water_Spray_Target_ID', full_name='iv.radar.radarobjectarray.Water_Spray_Target_ID', index=10,
+      number=11, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Filtered_XOHP_ACC_CIPV', full_name='iv.radar.radarobjectarray.Filtered_XOHP_ACC_CIPV', index=11,
+      number=12, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Path_ID_ACC_2', full_name='iv.radar.radarobjectarray.Path_ID_ACC_2', index=12,
+      number=13, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Path_ID_ACC_3', full_name='iv.radar.radarobjectarray.Path_ID_ACC_3', index=13,
+      number=14, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Internal_Error', full_name='iv.radar.radarobjectarray.Internal_Error', index=14,
+      number=15, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Range_Perf_Error', full_name='iv.radar.radarobjectarray.Range_Perf_Error', index=15,
+      number=16, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Overheat_Error', full_name='iv.radar.radarobjectarray.Overheat_Error', index=16,
+      number=17, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Valid_LR_Range', full_name='iv.radar.radarobjectarray.Valid_LR_Range', index=17,
+      number=18, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Valid_LR_Range_Rate', full_name='iv.radar.radarobjectarray.Valid_LR_Range_Rate', index=18,
+      number=19, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Valid_LR_Angle', full_name='iv.radar.radarobjectarray.Valid_LR_Angle', index=19,
+      number=20, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Valid_LR_Power', full_name='iv.radar.radarobjectarray.Valid_LR_Power', index=20,
+      number=21, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Valid_MR_Range', full_name='iv.radar.radarobjectarray.Valid_MR_Range', index=21,
+      number=22, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Valid_MR_Range_Rate', full_name='iv.radar.radarobjectarray.Valid_MR_Range_Rate', index=22,
+      number=23, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Valid_MR_Angle', full_name='iv.radar.radarobjectarray.Valid_MR_Angle', index=23,
+      number=24, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Valid_MR_Power', full_name='iv.radar.radarobjectarray.Valid_MR_Power', index=24,
+      number=25, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Persistent_Error', full_name='iv.radar.radarobjectarray.Persistent_Error', index=25,
+      number=26, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Interference_Error', full_name='iv.radar.radarobjectarray.Interference_Error', index=26,
+      number=27, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Temperature_Error', full_name='iv.radar.radarobjectarray.Temperature_Error', index=27,
+      number=28, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Temporary_Error', full_name='iv.radar.radarobjectarray.Temporary_Error', index=28,
+      number=29, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Voltage_Error', full_name='iv.radar.radarobjectarray.Voltage_Error', index=29,
+      number=30, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Speed_Loss', full_name='iv.radar.radarobjectarray.Speed_Loss', index=30,
+      number=31, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Yaw_Rate_Loss', full_name='iv.radar.radarobjectarray.Yaw_Rate_Loss', index=31,
+      number=32, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='Radar_Version', full_name='iv.radar.radarobjectarray.Radar_Version', index=32,
+      number=33, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=56,
+  serialized_end=904,
+)
+
+_RADAROBJECTARRAY.fields_by_name['obj'].message_type = radarobject__pb2._RADAROBJECT
+DESCRIPTOR.message_types_by_name['radarobjectarray'] = _RADAROBJECTARRAY
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+radarobjectarray = _reflection.GeneratedProtocolMessageType('radarobjectarray', (_message.Message,), {
+  'DESCRIPTOR' : _RADAROBJECTARRAY,
+  '__module__' : 'radarobjectarray_pb2'
+  # @@protoc_insertion_point(class_scope:iv.radar.radarobjectarray)
+  })
+_sym_db.RegisterMessage(radarobjectarray)
 
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'radarobjectarray_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
 
-  DESCRIPTOR._options = None
-  _RADAROBJECTARRAY._serialized_start=56
-  _RADAROBJECTARRAY._serialized_end=904
 # @@protoc_insertion_point(module_scope)

src/python/pythondecisiondemo/pythondecisiondemo.py

@@ -8,7 +8,7 @@ import proto.gpsimu_pb2 as gpsimu_pb2
 import proto.mapdata_pb2 as mapdata_pb2
 import proto.decition_pb2 as decition_pb2
 import proto.object_pb2 as object_pb2
-from proto import objectarray_pb2 as objectarray_pb2
+import proto.objectarray_pb2 as objectarray_pb2
 
 from PyModuleCommModule import PyModuleComm
 from decisiondemo import DecisionDemo

src/python/pythondecisiondemo/readme.md

@@ -1,3 +1,10 @@
 sudo apt install python3-numpy
 
 sudo apt install python3-protobuf
+
+
+到src/common/modulecomm目录下新建一个build文件夹
+cd build
+cmake ..
+make
+将生成的modulecommpython.so文件拷贝到本文件夹