robocar-protobuf/events/events.proto

syntax = "proto3";
package robocar.events;
option go_package = "events";

import "google/protobuf/timestamp.proto";

message FrameRef {
    string name = 1;
    string id = 2;
    google.protobuf.Timestamp created_at= 3;
}

message FrameMessage {
    FrameRef id = 1;
    bytes frame = 2;
}

message SteeringMessage {
    float steering = 1;
    float confidence = 2;
    FrameRef frame_ref = 3;
}

message ThrottleMessage {
    float throttle = 1;
    float confidence = 2;
    FrameRef frame_ref = 3;
}

message DriveModeMessage {
    DriveMode drive_mode = 1;
}

enum DriveMode {
    INVALID = 0;
    USER = 1;
    PILOT = 2;
}

message ObjectsMessage {
    repeated Object objects = 1;
    FrameRef frame_ref = 2;
}

// BoundingBox that contains an object
message Object {
    TypeObject type = 1;
    int32 left = 2;
    int32 top = 3;
    int32 right = 4;
    int32 bottom = 5;
    float confidence = 6;
}

enum TypeObject {
    ANY = 0;
    CAR = 1;
    BUMP = 2;
    PLOT = 3;
}

message SwitchRecordMessage {
    bool enabled = 1;
}

// Road description
message RoadMessage {
    repeated Point contour = 1; // list of points that describes road contour
    Ellipse ellipse = 2; // rotated ellipse that fit road contour
    FrameRef frame_ref = 3; // Reference to the frame used for compute
}

message Point {
    int32 x = 1;
    int32 y = 2;
}

message Ellipse {
    Point center = 1;
    int32 width = 2;
    int32 height = 3;
    float angle = 4;
    float confidence = 5;
}

// Record message used to tensorflow learning
message RecordMessage {
    FrameMessage frame = 1;
    SteeringMessage steering = 2;
}