add switch.proto

src/include/proto/switch.proto

@@ -0,0 +1,243 @@
+syntax = "proto2";
+
+package iv.Switch;
+
+//前视障碍物开关命令
+message CtrlCmd_FrontCamera_Obs{
+    required bool ID = 1;			//障碍物ID
+    required bool type = 2;			//障碍物类型
+    required bool confidenceDegree = 3;		//置信度
+    required bool state = 4;			//状态位
+    required bool lifeCycle = 5;			//生命周期
+    required bool route = 6;			//所处车道标志
+    required bool courseAngle = 7;		//航向角
+    required bool bearing = 8;			//方位
+    required bool size = 9;			//尺寸
+    required bool bearing_xyz = 10;		//方位（X/Y/Z 三轴信息）
+    required bool relativeSpeed = 11;		//相对速度（X/Y 两轴信息）
+    required bool absoluteSpeed = 12;		//绝对速度（X/Y两轴信息）
+    required bool relativeAcceleration = 13;	//相对加速度（X/Y 两轴信息）
+    required bool referencePoint = 14;		//参考点（目标中心点）
+    required bool contourPoint = 15;		//轮廓点
+    required bool framePoint = 16;		//外包框顶点
+    required bool obstacleMotionPrediction = 17;	//障碍物运动预测轨迹
+};
+
+//前视车道线开关命令
+message  CtrlCmd_FrontCamera_Laneline{
+    required bool No = 1;		//车道线编号
+    required bool type = 2;		//车道线类型
+    required bool color = 3;		//车道线颜色
+    required bool curvature = 4;	//车道线曲率
+    required bool geometryInf = 5;	//车道线几何信息
+};
+
+//前视交通标线开关命令
+message CtrlCmd_FrontCamera_Trafficline{
+    required bool type = 1;	//类型信息
+    required bool posInf = 2;	//方位信息包含(关键点坐标,附着车道 ID)
+};
+
+//前视可行驶区域开关命令
+message  CtrlCmd_FrontCamera_DriveableArea{
+    required bool type = 1;		//类型信息
+    required bool boundPoint = 2;	//可行驶域拟合信息
+};
+
+//前视交通标志开关命令
+message CtrlCmd_FrontCamera_TrafficSign{
+    required bool type = 1;	//类型信息
+    required bool posInf = 2;	//方位信息包含(关键点坐标,附着车道 ID)
+};
+
+//前视交通信号灯开关命令
+message CtrlCmd_FrontCamera_TrafficLight{
+    required bool type = 1;   	//交通信号灯状态信息
+    required bool posInf = 2; 	//方位信息包含(关键点坐标,附着车道 ID)
+};
+
+//环视车位信息开关命令
+message CtrlCmd_AroundCamera_Carpos{
+    required bool carAngle = 1;               		//车位角点坐标
+    required bool carWidhtDeep = 2;           	//车位宽度/深度
+    required bool carconfidenceDegree = 3;    	//置信度
+};
+
+//环视障碍物信息开关命令
+message CtrlCmd_AroundCamera_Obs{
+    required bool type = 1;			//障碍物类型信息
+    required bool posinf = 2;			//障碍物置信度
+    required bool confidenceDegree = 3;		//障碍物方位信息
+};
+
+//毫米波雷达障碍物信息开关命令
+message CtrlCmd_MWRader_Obs{
+    required bool ID = 1;			//障碍物ID
+    required bool confidenceDegree = 2;		//置信度
+    required bool state = 3;			//状态位
+    required bool lifeCycle = 4;			//生命周期
+    required bool courseAngle = 5;		//航向角
+    required bool bearing = 6;			//方位
+    required bool relativeSpeed = 7;		//相对速度
+    required bool absoluteSpeed = 8;		//绝对速度
+    required bool relativeAcceleration = 9;	//相对加速度
+    required bool obstacleMotionPrediction = 10;	//障碍物运动预测轨迹
+};
+
+//激光雷达车道线信息开关命令
+message CtrlCmd_LRader_Laneline{
+    required bool No = 1;		//车道线 ID
+    required bool geometryInf = 2;	//车道线空间坐标信息
+};
+
+//激光雷达障碍物信息开关命令
+message CtrlCmd_LRader_Obs{
+    required bool ID = 1;			//障碍物 ID
+    required bool type = 2;			//类型
+    required bool confidenceDegree = 3;		//置信度
+    required bool state = 4;			//状态位
+    required bool lifeCycle = 5;			//生命周期
+    required bool route = 6;			//所处车道标志
+    required bool courseAngle = 7;		//航向角
+    required bool size = 8;			//尺寸
+    required bool bearing_xyz = 9;		//方位（X/Y/Z 三轴信息）
+    required bool relativeSpeed = 10;		//相对速度
+    required bool absoluteSpeed = 11;		//绝对速度
+    required bool relativeAcceleration = 12;	//相对加速度
+    required bool referencePoint = 13;		//参考点（目标中心点）
+    required bool contourPoint = 14;		//轮廓点
+    required bool framePoint = 15;		//外包框顶点
+    required bool obstacleMotionPrediction = 16;	//障碍物运动预测轨迹
+};
+
+//感知融合毫米波激光雷达前视融合信息开关命令
+message CtrlCmd_MWLRaderFrontCamera{
+    required bool ID = 1;			//障碍物ID
+    required bool type = 2;			//类型
+    required bool confidenceDegree = 3;		//置信度
+    required bool state = 4;			//状态位
+    required bool lifeCycle = 5;		//生命周期
+    required bool route = 6;			//所处车道标志
+    required bool courseAngle = 7;		//航向角
+    required bool bearing = 8;			//方位
+    required bool size = 9;			//尺寸
+    required bool relativeSpeed = 10;		//相对速度（X/Y 两轴信息）
+    required bool absoluteSpeed = 11;		//绝对速度（X/Y两轴信息）
+    required bool relativeAcceleration = 12;	//相对加速度（X/Y 两轴信息）
+    required bool referencePoint = 13;		//参考点（目标中心点）
+    required bool contourPoint = 14;		//轮廓点
+    required bool framePoint = 15;		//外包框顶点
+    required bool obstacleMotionPrediction = 16;	//障碍物运动预测轨迹
+};
+
+//毫米波雷达前视融合信息开关命令
+message CtrlCmd_MWRaderFrontCamera{
+    required bool ID = 1;			//障碍物ID
+    required bool type = 2;			//类型
+    required bool confidenceDegree = 3;		//置信度
+    required bool state = 4;			//状态位
+    required bool lifeCycle = 5;		//生命周期
+    required bool route = 6;			//所处车道标志
+//    required bool courseAngle = 7;		//航向角
+    required bool bearing = 8;			//方位
+//    required bool size = 9;			//尺寸
+    required bool relativeSpeed = 10;		//相对速度（X/Y 两轴信息）
+    required bool absoluteSpeed = 11;		//绝对速度（X/Y两轴信息）
+    required bool relativeAcceleration = 12;	//相对加速度（X/Y 两轴信息）
+    required bool referencePoint = 13;		//参考点（目标中心点）
+    required bool contourPoint = 14;		//轮廓点
+    required bool framePoint = 15;		//外包框顶点
+    required bool obstacleMotionPrediction = 16;	//障碍物运动预测轨迹
+};
+
+//超声波雷达环视融合信息开关命令
+message CtrlCmd_URaderAroundCamera{
+    required bool carAngle = 1;		//车位角点坐标
+    required bool carWidhtDeep = 2;		//车位宽度/深度
+    required bool carconfidenceDegree = 3;	//车位置信度
+    required bool obstype = 4;			//障碍物类型信息
+    required bool obsposinf = 5;		//障碍物置信度
+    required bool obsconfidenceDegree = 6;	//障碍物方位信息
+};
+
+// 环境建模开关命令
+message CtrlCmd_EnvironmentModeling{
+    required bool grid = 1;	//栅格图
+};
+
+//融合定位模块开关命令
+message CtrlCmd_FusionPositioning{
+    required bool time = 1;		//时间信息
+    required bool state = 2;		//纬度、经度、海拔、定位状态
+    required bool distance = 3;		//距离左右侧车道线距离
+    required bool yawAngle = 4;	//偏航角
+    required bool angleOfPitch = 5;	//俯仰角
+    required bool rollAngle = 6;	//滚转角
+};
+
+//显示开关命令
+message  ToDispControlCmd{
+    required CtrlCmd_FrontCamera_Obs FrontCamera_Obs=1;                           		//前视障碍物开关命令
+    required CtrlCmd_FrontCamera_Laneline FrontCamera_Laneline=2;           		//前视车道线开关命令
+    required CtrlCmd_FrontCamera_Trafficline FrontCamera_Trafficline=3;      		//前视交通标线开关命令
+    required CtrlCmd_FrontCamera_DriveableArea FrontCamera_DriveableArea=4;  	//前视可行驶区域开关命令
+    required CtrlCmd_FrontCamera_TrafficSign FrontCamera_TrafficSign=5;      		//前视交通标志开关命令
+    required CtrlCmd_FrontCamera_TrafficLight FrontCamera_TrafficLight=6;    		//前视交通信号灯开关命令
+    required CtrlCmd_AroundCamera_Carpos AroundCamera_Carpos=7;              		//环视车位信息开关命令
+    required CtrlCmd_AroundCamera_Obs AroundCamera_Obs=8;                    		//环视障碍物信息开关命令
+    required CtrlCmd_MWRader_Obs MWRader_Obs=9;                              		//毫米波雷达障碍物信息开关命令
+    required CtrlCmd_LRader_Laneline LRader_Laneline=10;                      		//激光雷达车道线信息开关命令
+    required CtrlCmd_LRader_Obs LRader_Obs=11;                                			//激光雷达障碍物信息开关命令
+    required CtrlCmd_MWLRaderFrontCamera MWLRaderFrontCamera=12;              	//感知融合毫米波激光雷达前视融合信息开关命令
+    required CtrlCmd_MWRaderFrontCamera MWRaderFrontCamera=13;                	//毫米波雷达前视融合信息开关命令
+    required CtrlCmd_URaderAroundCamera URaderAroundCamera=14;                	//超声波雷达环视融合信息开关命令
+    required CtrlCmd_EnvironmentModeling EnvironmentModeling=15;              		//环境建模开关命令
+    required CtrlCmd_FusionPositioning FusionPositioning=16;                  		//融合定位模块开关命令
+};
+
+//数据解析层模块开关
+message dataAnalysisCmd
+{
+    required bool frontViewCameraDataAnalysisModule = 1;         	//前视三目摄像头数据解析模块
+    required bool ViewAroundCameraDataAnalysisModule = 2;        	//环视摄像头数据解析模块
+    required bool MWRDataAnalysisModule = 3;                     	//毫米波雷达数据解析模块
+    required bool lidarDataAnalysisModule = 4;                   		//激光雷达数据解析模块
+    required bool URDataAnalysisModule = 5;                      		//超声波雷达数据解析模块
+    required bool GpsImuDataAnalysisModule = 6;                  	//GPS/IMU 数据解析模块
+    required bool vehicleStatusDataAnalysisModule = 7;           	//车辆状态信息数据解析模块
+};
+
+//数据处理层模块开关
+message dataProcessingCmd
+{
+    required bool frontViewThreeEyeCamera = 1;                   //前视三目摄像头图像处理模块
+    required bool visualCamera = 2;                              	//环视摄像头图像处理模块
+    required bool MMWRadar = 3;                                  	//毫米波雷达数据处理模块
+    required bool laserRadar = 4;                                	//激光雷达点云数据处理模块
+};
+
+//感知融合层模块开关
+message perceptualFusion
+{
+    required bool  spaceRegistrationModule = 1;                 //空间配准模块
+    required bool  perceptualFusionModule = 2;                  //感知融合模块
+    required bool  fusionPositioningModule = 3;                  //融合定位模块
+    required bool  timeRegistrationModule = 4;                   //时间配准模块
+    required bool  environmentModelingModule = 5;         //环境建模模块
+    required bool  lidarAndMayConstructModule = 6;         //激光雷达即时定位与地图构建处理模块
+};
+
+//功能开关命令
+message fucSetControlCmd
+{
+    required dataAnalysisCmd DataAnalysis =1;         	//数据解析层模块
+    required dataProcessingCmd DataProcessing =2;     	//数据处理层模块
+    required perceptualFusion PerceptualFusion =3;    	//感知融合层模块
+};
+
+//系统设置命令
+message settingsCmd
+{
+    required fucSetControlCmd fucSetControl =1;   	//功能设置
+    required ToDispControlCmd dispSetControl =2;  	//显示设置
+};