From 6ee00847920a546f845d889515c267a3aa549ce7 Mon Sep 17 00:00:00 2001 From: Cyrille Nofficial Date: Fri, 3 Jan 2020 23:57:52 +0100 Subject: [PATCH] Describe Road messages --- events/events.proto | 19 +++ go/events/events.pb.go | 245 +++++++++++++++++++++++++++++++----- python/events/events_pb2.py | 172 ++++++++++++++++++++++++- 3 files changed, 397 insertions(+), 39 deletions(-) diff --git a/events/events.proto b/events/events.proto index 35f9cd6..ee035d6 100644 --- a/events/events.proto +++ b/events/events.proto @@ -62,3 +62,22 @@ enum TypeObject { 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 +} + +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; +} diff --git a/go/events/events.pb.go b/go/events/events.pb.go index 35c74c1..c12dc5e 100644 --- a/go/events/events.pb.go +++ b/go/events/events.pb.go @@ -497,6 +497,172 @@ func (m *SwitchRecordMessage) GetEnabled() bool { return false } +// Road description +type RoadMessage struct { + Contour []*Point `protobuf:"bytes,1,rep,name=contour,proto3" json:"contour,omitempty"` + Ellipse *Ellipse `protobuf:"bytes,2,opt,name=ellipse,proto3" json:"ellipse,omitempty"` + XXX_NoUnkeyedLiteral struct{} `json:"-"` + XXX_unrecognized []byte `json:"-"` + XXX_sizecache int32 `json:"-"` +} + +func (m *RoadMessage) Reset() { *m = RoadMessage{} } +func (m *RoadMessage) String() string { return proto.CompactTextString(m) } +func (*RoadMessage) ProtoMessage() {} +func (*RoadMessage) Descriptor() ([]byte, []int) { + return fileDescriptor_8ec31f2d2a3db598, []int{8} +} + +func (m *RoadMessage) XXX_Unmarshal(b []byte) error { + return xxx_messageInfo_RoadMessage.Unmarshal(m, b) +} +func (m *RoadMessage) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) { + return xxx_messageInfo_RoadMessage.Marshal(b, m, deterministic) +} +func (m *RoadMessage) XXX_Merge(src proto.Message) { + xxx_messageInfo_RoadMessage.Merge(m, src) +} +func (m *RoadMessage) XXX_Size() int { + return xxx_messageInfo_RoadMessage.Size(m) +} +func (m *RoadMessage) XXX_DiscardUnknown() { + xxx_messageInfo_RoadMessage.DiscardUnknown(m) +} + +var xxx_messageInfo_RoadMessage proto.InternalMessageInfo + +func (m *RoadMessage) GetContour() []*Point { + if m != nil { + return m.Contour + } + return nil +} + +func (m *RoadMessage) GetEllipse() *Ellipse { + if m != nil { + return m.Ellipse + } + return nil +} + +type Point struct { + X int32 `protobuf:"varint,1,opt,name=x,proto3" json:"x,omitempty"` + Y int32 `protobuf:"varint,2,opt,name=y,proto3" json:"y,omitempty"` + XXX_NoUnkeyedLiteral struct{} `json:"-"` + XXX_unrecognized []byte `json:"-"` + XXX_sizecache int32 `json:"-"` +} + +func (m *Point) Reset() { *m = Point{} } +func (m *Point) String() string { return proto.CompactTextString(m) } +func (*Point) ProtoMessage() {} +func (*Point) Descriptor() ([]byte, []int) { + return fileDescriptor_8ec31f2d2a3db598, []int{9} +} + +func (m *Point) XXX_Unmarshal(b []byte) error { + return xxx_messageInfo_Point.Unmarshal(m, b) +} +func (m *Point) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) { + return xxx_messageInfo_Point.Marshal(b, m, deterministic) +} +func (m *Point) XXX_Merge(src proto.Message) { + xxx_messageInfo_Point.Merge(m, src) +} +func (m *Point) XXX_Size() int { + return xxx_messageInfo_Point.Size(m) +} +func (m *Point) XXX_DiscardUnknown() { + xxx_messageInfo_Point.DiscardUnknown(m) +} + +var xxx_messageInfo_Point proto.InternalMessageInfo + +func (m *Point) GetX() int32 { + if m != nil { + return m.X + } + return 0 +} + +func (m *Point) GetY() int32 { + if m != nil { + return m.Y + } + return 0 +} + +type Ellipse struct { + Center *Point `protobuf:"bytes,1,opt,name=center,proto3" json:"center,omitempty"` + Width int32 `protobuf:"varint,2,opt,name=width,proto3" json:"width,omitempty"` + Height int32 `protobuf:"varint,3,opt,name=height,proto3" json:"height,omitempty"` + Angle float32 `protobuf:"fixed32,4,opt,name=angle,proto3" json:"angle,omitempty"` + Confidence float32 `protobuf:"fixed32,5,opt,name=confidence,proto3" json:"confidence,omitempty"` + XXX_NoUnkeyedLiteral struct{} `json:"-"` + XXX_unrecognized []byte `json:"-"` + XXX_sizecache int32 `json:"-"` +} + +func (m *Ellipse) Reset() { *m = Ellipse{} } +func (m *Ellipse) String() string { return proto.CompactTextString(m) } +func (*Ellipse) ProtoMessage() {} +func (*Ellipse) Descriptor() ([]byte, []int) { + return fileDescriptor_8ec31f2d2a3db598, []int{10} +} + +func (m *Ellipse) XXX_Unmarshal(b []byte) error { + return xxx_messageInfo_Ellipse.Unmarshal(m, b) +} +func (m *Ellipse) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) { + return xxx_messageInfo_Ellipse.Marshal(b, m, deterministic) +} +func (m *Ellipse) XXX_Merge(src proto.Message) { + xxx_messageInfo_Ellipse.Merge(m, src) +} +func (m *Ellipse) XXX_Size() int { + return xxx_messageInfo_Ellipse.Size(m) +} +func (m *Ellipse) XXX_DiscardUnknown() { + xxx_messageInfo_Ellipse.DiscardUnknown(m) +} + +var xxx_messageInfo_Ellipse proto.InternalMessageInfo + +func (m *Ellipse) GetCenter() *Point { + if m != nil { + return m.Center + } + return nil +} + +func (m *Ellipse) GetWidth() int32 { + if m != nil { + return m.Width + } + return 0 +} + +func (m *Ellipse) GetHeight() int32 { + if m != nil { + return m.Height + } + return 0 +} + +func (m *Ellipse) GetAngle() float32 { + if m != nil { + return m.Angle + } + return 0 +} + +func (m *Ellipse) GetConfidence() float32 { + if m != nil { + return m.Confidence + } + return 0 +} + func init() { proto.RegisterEnum("robocar.events.DriveMode", DriveMode_name, DriveMode_value) proto.RegisterEnum("robocar.events.TypeObject", TypeObject_name, TypeObject_value) @@ -508,43 +674,54 @@ func init() { proto.RegisterType((*ObjectsMessage)(nil), "robocar.events.ObjectsMessage") proto.RegisterType((*Object)(nil), "robocar.events.Object") proto.RegisterType((*SwitchRecordMessage)(nil), "robocar.events.SwitchRecordMessage") + proto.RegisterType((*RoadMessage)(nil), "robocar.events.RoadMessage") + proto.RegisterType((*Point)(nil), "robocar.events.Point") + proto.RegisterType((*Ellipse)(nil), "robocar.events.Ellipse") } func init() { proto.RegisterFile("events/events.proto", fileDescriptor_8ec31f2d2a3db598) } var fileDescriptor_8ec31f2d2a3db598 = []byte{ - // 522 bytes of a gzipped FileDescriptorProto - 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0xb4, 0x53, 0x5d, 0x8b, 0xd3, 0x40, - 0x14, 0xdd, 0xa4, 0x5f, 0xc9, 0xed, 0x52, 0xc3, 0xac, 0x2c, 0xb1, 0x0f, 0x5a, 0xfa, 0x54, 0x16, - 0x4c, 0xa5, 0x22, 0xe8, 0x63, 0xd7, 0x55, 0x28, 0xb4, 0xdd, 0x32, 0xed, 0x0a, 0xfa, 0x52, 0xf2, - 0x71, 0xd3, 0x46, 0x9a, 0x4c, 0x98, 0x8c, 0x2b, 0x7d, 0xf7, 0xe7, 0xf8, 0x23, 0x25, 0x33, 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DESCRIPTOR = _descriptor.FileDescriptor( package='robocar.events', syntax='proto3', serialized_options=_b('Z\006events'), - serialized_pb=_b('\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x05\x12\x0b\n\x03top\x18\x03 \x01(\x05\x12\r\n\x05right\x18\x04 \x01(\x05\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x05\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08*-\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\x08Z\x06\x65ventsb\x06proto3') + serialized_pb=_b('\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x05\x12\x0b\n\x03top\x18\x03 \x01(\x05\x12\r\n\x05right\x18\x04 \x01(\x05\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x05\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"_\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02*-\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\x08Z\x06\x65ventsb\x06proto3') , dependencies=[google_dot_protobuf_dot_timestamp__pb2.DESCRIPTOR,]) @@ -46,8 +46,8 @@ _DRIVEMODE = _descriptor.EnumDescriptor( ], containing_type=None, serialized_options=None, - serialized_start=773, - serialized_end=818, + serialized_start=1017, + serialized_end=1062, ) _sym_db.RegisterEnumDescriptor(_DRIVEMODE) @@ -77,8 +77,8 @@ _TYPEOBJECT = _descriptor.EnumDescriptor( ], containing_type=None, serialized_options=None, - serialized_start=820, - serialized_end=870, + serialized_start=1064, + serialized_end=1114, ) _sym_db.RegisterEnumDescriptor(_TYPEOBJECT) @@ -431,6 +431,141 @@ _SWITCHRECORDMESSAGE = _descriptor.Descriptor( serialized_end=771, ) + +_ROADMESSAGE = _descriptor.Descriptor( + name='RoadMessage', + full_name='robocar.events.RoadMessage', + filename=None, + file=DESCRIPTOR, + containing_type=None, + fields=[ + _descriptor.FieldDescriptor( + name='contour', full_name='robocar.events.RoadMessage.contour', 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), + _descriptor.FieldDescriptor( + name='ellipse', full_name='robocar.events.RoadMessage.ellipse', 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), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=773, + serialized_end=868, +) + + +_POINT = _descriptor.Descriptor( + name='Point', + full_name='robocar.events.Point', + filename=None, + file=DESCRIPTOR, + containing_type=None, + fields=[ + _descriptor.FieldDescriptor( + name='x', full_name='robocar.events.Point.x', index=0, + number=1, 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), + _descriptor.FieldDescriptor( + name='y', full_name='robocar.events.Point.y', index=1, + number=2, 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), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=870, + serialized_end=899, +) + + +_ELLIPSE = _descriptor.Descriptor( + name='Ellipse', + full_name='robocar.events.Ellipse', + filename=None, + file=DESCRIPTOR, + containing_type=None, + fields=[ + _descriptor.FieldDescriptor( + name='center', full_name='robocar.events.Ellipse.center', 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), + _descriptor.FieldDescriptor( + name='width', full_name='robocar.events.Ellipse.width', index=1, + number=2, 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), + _descriptor.FieldDescriptor( + name='height', full_name='robocar.events.Ellipse.height', 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), + _descriptor.FieldDescriptor( + name='angle', full_name='robocar.events.Ellipse.angle', index=3, + number=4, 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), + _descriptor.FieldDescriptor( + name='confidence', full_name='robocar.events.Ellipse.confidence', index=4, + number=5, 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), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=901, + serialized_end=1015, +) + _FRAMEREF.fields_by_name['created_at'].message_type = google_dot_protobuf_dot_timestamp__pb2._TIMESTAMP _FRAMEMESSAGE.fields_by_name['id'].message_type = _FRAMEREF _STEERINGMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF @@ -439,6 +574,9 @@ _DRIVEMODEMESSAGE.fields_by_name['drive_mode'].enum_type = _DRIVEMODE _OBJECTSMESSAGE.fields_by_name['objects'].message_type = _OBJECT _OBJECTSMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF _OBJECT.fields_by_name['type'].enum_type = _TYPEOBJECT +_ROADMESSAGE.fields_by_name['contour'].message_type = _POINT +_ROADMESSAGE.fields_by_name['ellipse'].message_type = _ELLIPSE +_ELLIPSE.fields_by_name['center'].message_type = _POINT DESCRIPTOR.message_types_by_name['FrameRef'] = _FRAMEREF DESCRIPTOR.message_types_by_name['FrameMessage'] = _FRAMEMESSAGE DESCRIPTOR.message_types_by_name['SteeringMessage'] = _STEERINGMESSAGE @@ -447,6 +585,9 @@ DESCRIPTOR.message_types_by_name['DriveModeMessage'] = _DRIVEMODEMESSAGE DESCRIPTOR.message_types_by_name['ObjectsMessage'] = _OBJECTSMESSAGE DESCRIPTOR.message_types_by_name['Object'] = _OBJECT DESCRIPTOR.message_types_by_name['SwitchRecordMessage'] = _SWITCHRECORDMESSAGE +DESCRIPTOR.message_types_by_name['RoadMessage'] = _ROADMESSAGE +DESCRIPTOR.message_types_by_name['Point'] = _POINT +DESCRIPTOR.message_types_by_name['Ellipse'] = _ELLIPSE DESCRIPTOR.enum_types_by_name['DriveMode'] = _DRIVEMODE DESCRIPTOR.enum_types_by_name['TypeObject'] = _TYPEOBJECT _sym_db.RegisterFileDescriptor(DESCRIPTOR) @@ -507,6 +648,27 @@ SwitchRecordMessage = _reflection.GeneratedProtocolMessageType('SwitchRecordMess )) _sym_db.RegisterMessage(SwitchRecordMessage) +RoadMessage = _reflection.GeneratedProtocolMessageType('RoadMessage', (_message.Message,), dict( + DESCRIPTOR = _ROADMESSAGE, + __module__ = 'events.events_pb2' + # @@protoc_insertion_point(class_scope:robocar.events.RoadMessage) + )) +_sym_db.RegisterMessage(RoadMessage) + +Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), dict( + DESCRIPTOR = _POINT, + __module__ = 'events.events_pb2' + # @@protoc_insertion_point(class_scope:robocar.events.Point) + )) +_sym_db.RegisterMessage(Point) + +Ellipse = _reflection.GeneratedProtocolMessageType('Ellipse', (_message.Message,), dict( + DESCRIPTOR = _ELLIPSE, + __module__ = 'events.events_pb2' + # @@protoc_insertion_point(class_scope:robocar.events.Ellipse) + )) +_sym_db.RegisterMessage(Ellipse) + DESCRIPTOR._options = None # @@protoc_insertion_point(module_scope)