refactor(objects): use percent 0-1 to describes object bboxes

refs robocars/robocar-setup#3

Makefile

@@ -24,8 +24,8 @@ endif
 # If $GOPATH/bin/protoc-gen-go does not exist, we'll run this command to install
 # it.
 $(PROTOC_GEN_GO):
-	go install google.golang.org/protobuf/cmd/protoc-gen-go@v1.26
-	go install google.golang.org/grpc/cmd/protoc-gen-go-grpc@v1.1
+	go install google.golang.org/protobuf/cmd/protoc-gen-go@latest
+	go install google.golang.org/grpc/cmd/protoc-gen-go-grpc@latest
 
 events.pb.go: events/events.proto | $(PROTOC_GEN_GO) $(PROTOC)
 	protoc --go_out=./go --go_opt=paths=source_relative --go-grpc_out=. --go-grpc_opt=paths=source_relative events/events.proto

events/events.proto

@@ -42,13 +42,13 @@ message ObjectsMessage {
     FrameRef frame_ref = 2;
 }
 
-// BoundingBox that contains an object
+// BoundingBox that contains an object, coordinates as percent
 message Object {
     TypeObject type = 1;
-    int32 left = 2;
-    int32 top = 3;
-    int32 right = 4;
-    int32 bottom = 5;
+    float left = 2;
+    float top = 3;
+    float right = 4;
+    float bottom = 5;
     float confidence = 6;
 }
 

go/events/events.pb.go

@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.26.0
-// 	protoc        v3.12.4
+// 	protoc-gen-go v1.28.1
+// 	protoc        v3.21.4
 // source: events/events.proto
 
 package events
@@ -468,17 +468,17 @@ func (x *ObjectsMessage) GetFrameRef() *FrameRef {
 	return nil
 }
 
-// BoundingBox that contains an object
+// BoundingBox that contains an object, coordinates as percent
 type Object struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
 	Type       TypeObject `protobuf:"varint,1,opt,name=type,proto3,enum=robocar.events.TypeObject" json:"type,omitempty"`
-	Left       int32      `protobuf:"varint,2,opt,name=left,proto3" json:"left,omitempty"`
-	Top        int32      `protobuf:"varint,3,opt,name=top,proto3" json:"top,omitempty"`
-	Right      int32      `protobuf:"varint,4,opt,name=right,proto3" json:"right,omitempty"`
-	Bottom     int32      `protobuf:"varint,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
+	Left       float32    `protobuf:"fixed32,2,opt,name=left,proto3" json:"left,omitempty"`
+	Top        float32    `protobuf:"fixed32,3,opt,name=top,proto3" json:"top,omitempty"`
+	Right      float32    `protobuf:"fixed32,4,opt,name=right,proto3" json:"right,omitempty"`
+	Bottom     float32    `protobuf:"fixed32,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
 	Confidence float32    `protobuf:"fixed32,6,opt,name=confidence,proto3" json:"confidence,omitempty"`
 }
 
@@ -521,28 +521,28 @@ func (x *Object) GetType() TypeObject {
 	return TypeObject_ANY
 }
 
-func (x *Object) GetLeft() int32 {
+func (x *Object) GetLeft() float32 {
 	if x != nil {
 		return x.Left
 	}
 	return 0
 }
 
-func (x *Object) GetTop() int32 {
+func (x *Object) GetTop() float32 {
 	if x != nil {
 		return x.Top
 	}
 	return 0
 }
 
-func (x *Object) GetRight() int32 {
+func (x *Object) GetRight() float32 {
 	if x != nil {
 		return x.Right
 	}
 	return 0
 }
 
-func (x *Object) GetBottom() int32 {
+func (x *Object) GetBottom() float32 {
 	if x != nil {
 		return x.Bottom
 	}
@@ -918,10 +918,10 @@ var file_events_events_proto_rawDesc = []byte{
 	0x0e, 0x32, 0x1a, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e,
 	0x74, 0x73, 0x2e, 0x54, 0x79, 0x70, 0x65, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x52, 0x04, 0x74,
 	0x79, 0x70, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x18, 0x02, 0x20, 0x01, 0x28,
-	0x05, 0x52, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x12, 0x10, 0x0a, 0x03, 0x74, 0x6f, 0x70, 0x18, 0x03,
-	0x20, 0x01, 0x28, 0x05, 0x52, 0x03, 0x74, 0x6f, 0x70, 0x12, 0x14, 0x0a, 0x05, 0x72, 0x69, 0x67,
-	0x68, 0x74, 0x18, 0x04, 0x20, 0x01, 0x28, 0x05, 0x52, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x12,
-	0x16, 0x0a, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x18, 0x05, 0x20, 0x01, 0x28, 0x05, 0x52,
+	0x02, 0x52, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x12, 0x10, 0x0a, 0x03, 0x74, 0x6f, 0x70, 0x18, 0x03,
+	0x20, 0x01, 0x28, 0x02, 0x52, 0x03, 0x74, 0x6f, 0x70, 0x12, 0x14, 0x0a, 0x05, 0x72, 0x69, 0x67,
+	0x68, 0x74, 0x18, 0x04, 0x20, 0x01, 0x28, 0x02, 0x52, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x12,
+	0x16, 0x0a, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x18, 0x05, 0x20, 0x01, 0x28, 0x02, 0x52,
 	0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69,
 	0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x06, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e,
 	0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x22, 0x2f, 0x0a, 0x13, 0x53, 0x77, 0x69, 0x74, 0x63,

go/go.mod

@@ -1,8 +1,8 @@
 module github.com/cyrilix/robocar-protobuf/go
 
-go 1.17
+go 1.18
 
 require (
 	github.com/golang/protobuf v1.5.2
-	google.golang.org/protobuf v1.26.0
+	google.golang.org/protobuf v1.28.0
 )

go/go.sum

@@ -6,5 +6,6 @@ github.com/google/go-cmp v0.5.5/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/
 golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543 h1:E7g+9GITq07hpfrRu66IVDexMakfv52eLZ2CXBWiKr4=
 golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 google.golang.org/protobuf v1.26.0-rc.1/go.mod h1:jlhhOSvTdKEhbULTjvd4ARK9grFBp09yW+WbY/TyQbw=
-google.golang.org/protobuf v1.26.0 h1:bxAC2xTBsZGibn2RTntX0oH50xLsqy1OxA9tTL3p/lk=
 google.golang.org/protobuf v1.26.0/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc=
+google.golang.org/protobuf v1.28.0 h1:w43yiav+6bVFTBQFZX0r7ipe9JQ1QsbMgHwbBziscLw=
+google.golang.org/protobuf v1.28.0/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=

go/vendor/google.golang.org/protobuf/encoding/prototext/decode.go

@@ -744,9 +744,6 @@ func (d decoder) skipValue() error {
 				// Skip items. This will not validate whether skipped values are
 				// of the same type or not, same behavior as C++
 				// TextFormat::Parser::AllowUnknownField(true) version 3.8.0.
-				if err := d.skipValue(); err != nil {
-					return err
-				}
 			}
 		}
 	}

go/vendor/google.golang.org/protobuf/encoding/protowire/wire.go

@@ -25,6 +25,7 @@ const (
 	FirstReservedNumber   Number = 19000
 	LastReservedNumber    Number = 19999
 	MaxValidNumber        Number = 1<<29 - 1
+	DefaultRecursionLimit        = 10000
 )
 
 // IsValid reports whether the field number is semantically valid.
@@ -55,6 +56,7 @@ const (
 	errCodeOverflow
 	errCodeReserved
 	errCodeEndGroup
+	errCodeRecursionDepth
 )
 
 var (
@@ -112,6 +114,10 @@ func ConsumeField(b []byte) (Number, Type, int) {
 // When parsing a group, the length includes the end group marker and
 // the end group is verified to match the starting field number.
 func ConsumeFieldValue(num Number, typ Type, b []byte) (n int) {
+	return consumeFieldValueD(num, typ, b, DefaultRecursionLimit)
+}
+
+func consumeFieldValueD(num Number, typ Type, b []byte, depth int) (n int) {
 	switch typ {
 	case VarintType:
 		_, n = ConsumeVarint(b)
@@ -126,6 +132,9 @@ func ConsumeFieldValue(num Number, typ Type, b []byte) (n int) {
 		_, n = ConsumeBytes(b)
 		return n
 	case StartGroupType:
+		if depth < 0 {
+			return errCodeRecursionDepth
+		}
 		n0 := len(b)
 		for {
 			num2, typ2, n := ConsumeTag(b)
@@ -140,7 +149,7 @@ func ConsumeFieldValue(num Number, typ Type, b []byte) (n int) {
 				return n0 - len(b)
 			}
 
-			n = ConsumeFieldValue(num2, typ2, b)
+			n = consumeFieldValueD(num2, typ2, b, depth-1)
 			if n < 0 {
 				return n // forward error code
 			}

go/vendor/google.golang.org/protobuf/internal/encoding/text/decode.go

@@ -381,7 +381,7 @@ func (d *Decoder) currentOpenKind() (Kind, byte) {
 	case '[':
 		return ListOpen, ']'
 	}
-	panic(fmt.Sprintf("Decoder: openStack contains invalid byte %s", string(openCh)))
+	panic(fmt.Sprintf("Decoder: openStack contains invalid byte %c", openCh))
 }
 
 func (d *Decoder) pushOpenStack(ch byte) {

go/vendor/google.golang.org/protobuf/internal/encoding/text/encode.go

@@ -263,3 +263,8 @@ func (e *Encoder) Snapshot() encoderState {
 func (e *Encoder) Reset(es encoderState) {
 	e.encoderState = es
 }
+
+// AppendString appends the escaped form of the input string to b.
+func AppendString(b []byte, s string) []byte {
+	return appendString(b, s, false)
+}

go/vendor/google.golang.org/protobuf/internal/errors/is_go112.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build !go1.13
 // +build !go1.13
 
 package errors

go/vendor/google.golang.org/protobuf/internal/errors/is_go113.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build go1.13
 // +build go1.13
 
 package errors

go/vendor/google.golang.org/protobuf/internal/flags/proto_legacy_disable.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build !protolegacy
 // +build !protolegacy
 
 package flags

go/vendor/google.golang.org/protobuf/internal/flags/proto_legacy_enable.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build protolegacy
 // +build protolegacy
 
 package flags

go/vendor/google.golang.org/protobuf/internal/impl/codec_map_go111.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build !go1.12
 // +build !go1.12
 
 package impl

go/vendor/google.golang.org/protobuf/internal/impl/codec_map_go112.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build go1.12
 // +build go1.12
 
 package impl

go/vendor/google.golang.org/protobuf/internal/impl/codec_reflect.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build purego || appengine
 // +build purego appengine
 
 package impl

go/vendor/google.golang.org/protobuf/internal/impl/codec_unsafe.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build !purego && !appengine
 // +build !purego,!appengine
 
 package impl

go/vendor/google.golang.org/protobuf/internal/impl/decode.go

@@ -18,6 +18,7 @@ import (
 )
 
 var errDecode = errors.New("cannot parse invalid wire-format data")
+var errRecursionDepth = errors.New("exceeded maximum recursion depth")
 
 type unmarshalOptions struct {
 	flags    protoiface.UnmarshalInputFlags
@@ -25,6 +26,7 @@ type unmarshalOptions struct {
 		FindExtensionByName(field protoreflect.FullName) (protoreflect.ExtensionType, error)
 		FindExtensionByNumber(message protoreflect.FullName, field protoreflect.FieldNumber) (protoreflect.ExtensionType, error)
 	}
+	depth int
 }
 
 func (o unmarshalOptions) Options() proto.UnmarshalOptions {
@@ -44,6 +46,7 @@ func (o unmarshalOptions) IsDefault() bool {
 
 var lazyUnmarshalOptions = unmarshalOptions{
 	resolver: preg.GlobalTypes,
+	depth:    protowire.DefaultRecursionLimit,
 }
 
 type unmarshalOutput struct {
@@ -62,6 +65,7 @@ func (mi *MessageInfo) unmarshal(in piface.UnmarshalInput) (piface.UnmarshalOutp
 	out, err := mi.unmarshalPointer(in.Buf, p, 0, unmarshalOptions{
 		flags:    in.Flags,
 		resolver: in.Resolver,
+		depth:    in.Depth,
 	})
 	var flags piface.UnmarshalOutputFlags
 	if out.initialized {
@@ -82,6 +86,10 @@ var errUnknown = errors.New("unknown")
 
 func (mi *MessageInfo) unmarshalPointer(b []byte, p pointer, groupTag protowire.Number, opts unmarshalOptions) (out unmarshalOutput, err error) {
 	mi.init()
+	opts.depth--
+	if opts.depth < 0 {
+		return out, errRecursionDepth
+	}
 	if flags.ProtoLegacy && mi.isMessageSet {
 		return unmarshalMessageSet(mi, b, p, opts)
 	}

go/vendor/google.golang.org/protobuf/internal/impl/legacy_message.go

@@ -440,6 +440,13 @@ func legacyMerge(in piface.MergeInput) piface.MergeOutput {
 	if !ok {
 		return piface.MergeOutput{}
 	}
+	if !in.Source.IsValid() {
+		// Legacy Marshal methods may not function on nil messages.
+		// Check for a typed nil source only after we confirm that
+		// legacy Marshal/Unmarshal methods are present, for
+		// consistency.
+		return piface.MergeOutput{Flags: piface.MergeComplete}
+	}
 	b, err := marshaler.Marshal()
 	if err != nil {
 		return piface.MergeOutput{}

go/vendor/google.golang.org/protobuf/internal/impl/pointer_reflect.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build purego || appengine
 // +build purego appengine
 
 package impl

go/vendor/google.golang.org/protobuf/internal/impl/pointer_unsafe.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build !purego && !appengine
 // +build !purego,!appengine
 
 package impl

go/vendor/google.golang.org/protobuf/internal/strs/strings_pure.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build purego || appengine
 // +build purego appengine
 
 package strs

go/vendor/google.golang.org/protobuf/internal/strs/strings_unsafe.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build !purego && !appengine
 // +build !purego,!appengine
 
 package strs

go/vendor/google.golang.org/protobuf/internal/version/version.go

@@ -52,7 +52,7 @@ import (
 //	10. Send out the CL for review and submit it.
 const (
 	Major      = 1
-	Minor      = 26
+	Minor      = 28
 	Patch      = 0
 	PreRelease = ""
 )

go/vendor/google.golang.org/protobuf/proto/decode.go

@@ -42,18 +42,25 @@ type UnmarshalOptions struct {
 		FindExtensionByName(field protoreflect.FullName) (protoreflect.ExtensionType, error)
 		FindExtensionByNumber(message protoreflect.FullName, field protoreflect.FieldNumber) (protoreflect.ExtensionType, error)
 	}
+
+	// RecursionLimit limits how deeply messages may be nested.
+	// If zero, a default limit is applied.
+	RecursionLimit int
 }
 
 // Unmarshal parses the wire-format message in b and places the result in m.
 // The provided message must be mutable (e.g., a non-nil pointer to a message).
 func Unmarshal(b []byte, m Message) error {
-	_, err := UnmarshalOptions{}.unmarshal(b, m.ProtoReflect())
+	_, err := UnmarshalOptions{RecursionLimit: protowire.DefaultRecursionLimit}.unmarshal(b, m.ProtoReflect())
 	return err
 }
 
 // Unmarshal parses the wire-format message in b and places the result in m.
 // The provided message must be mutable (e.g., a non-nil pointer to a message).
 func (o UnmarshalOptions) Unmarshal(b []byte, m Message) error {
+	if o.RecursionLimit == 0 {
+		o.RecursionLimit = protowire.DefaultRecursionLimit
+	}
 	_, err := o.unmarshal(b, m.ProtoReflect())
 	return err
 }
@@ -63,6 +70,9 @@ func (o UnmarshalOptions) Unmarshal(b []byte, m Message) error {
 // This method permits fine-grained control over the unmarshaler.
 // Most users should use Unmarshal instead.
 func (o UnmarshalOptions) UnmarshalState(in protoiface.UnmarshalInput) (protoiface.UnmarshalOutput, error) {
+	if o.RecursionLimit == 0 {
+		o.RecursionLimit = protowire.DefaultRecursionLimit
+	}
 	return o.unmarshal(in.Buf, in.Message)
 }
 
@@ -86,12 +96,17 @@ func (o UnmarshalOptions) unmarshal(b []byte, m protoreflect.Message) (out proto
 			Message:  m,
 			Buf:      b,
 			Resolver: o.Resolver,
+			Depth:    o.RecursionLimit,
 		}
 		if o.DiscardUnknown {
 			in.Flags |= protoiface.UnmarshalDiscardUnknown
 		}
 		out, err = methods.Unmarshal(in)
 	} else {
+		o.RecursionLimit--
+		if o.RecursionLimit < 0 {
+			return out, errors.New("exceeded max recursion depth")
+		}
 		err = o.unmarshalMessageSlow(b, m)
 	}
 	if err != nil {

go/vendor/google.golang.org/protobuf/proto/proto_methods.go

@@ -3,6 +3,7 @@
 // license that can be found in the LICENSE file.
 
 // The protoreflect build tag disables use of fast-path methods.
+//go:build !protoreflect
 // +build !protoreflect
 
 package proto

go/vendor/google.golang.org/protobuf/proto/proto_reflect.go

@@ -3,6 +3,7 @@
 // license that can be found in the LICENSE file.
 
 // The protoreflect build tag disables use of fast-path methods.
+//go:build protoreflect
 // +build protoreflect
 
 package proto

go/vendor/google.golang.org/protobuf/reflect/protoreflect/methods.go

@@ -53,6 +53,7 @@ type (
 			FindExtensionByName(field FullName) (ExtensionType, error)
 			FindExtensionByNumber(message FullName, field FieldNumber) (ExtensionType, error)
 		}
+		Depth int
 	}
 	unmarshalOutput = struct {
 		pragma.NoUnkeyedLiterals

go/vendor/google.golang.org/protobuf/reflect/protoreflect/value_pure.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build purego || appengine
 // +build purego appengine
 
 package protoreflect

go/vendor/google.golang.org/protobuf/reflect/protoreflect/value_union.go

@@ -41,6 +41,31 @@ import (
 // Converting to/from a Value and a concrete Go value panics on type mismatch.
 // For example, ValueOf("hello").Int() panics because this attempts to
 // retrieve an int64 from a string.
+//
+// List, Map, and Message Values are called "composite" values.
+//
+// A composite Value may alias (reference) memory at some location,
+// such that changes to the Value updates the that location.
+// A composite value acquired with a Mutable method, such as Message.Mutable,
+// always references the source object.
+//
+// For example:
+//	// Append a 0 to a "repeated int32" field.
+//	// Since the Value returned by Mutable is guaranteed to alias
+//	// the source message, modifying the Value modifies the message.
+//	message.Mutable(fieldDesc).(List).Append(protoreflect.ValueOfInt32(0))
+//
+//	// Assign [0] to a "repeated int32" field by creating a new Value,
+//	// modifying it, and assigning it.
+//	list := message.NewField(fieldDesc).(List)
+//	list.Append(protoreflect.ValueOfInt32(0))
+//	message.Set(fieldDesc, list)
+//	// ERROR: Since it is not defined whether Set aliases the source,
+//	// appending to the List here may or may not modify the message.
+//	list.Append(protoreflect.ValueOfInt32(0))
+//
+// Some operations, such as Message.Get, may return an "empty, read-only"
+// composite Value. Modifying an empty, read-only value panics.
 type Value value
 
 // The protoreflect API uses a custom Value union type instead of interface{}

go/vendor/google.golang.org/protobuf/reflect/protoreflect/value_unsafe.go

@@ -2,6 +2,7 @@
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 
+//go:build !purego && !appengine
 // +build !purego,!appengine
 
 package protoreflect

go/vendor/google.golang.org/protobuf/reflect/protoregistry/registry.go

@@ -94,7 +94,8 @@ type Files struct {
 	// Note that enum values are in the top-level since that are in the same
 	// scope as the parent enum.
 	descsByName map[protoreflect.FullName]interface{}
-	filesByPath map[string]protoreflect.FileDescriptor
+	filesByPath map[string][]protoreflect.FileDescriptor
+	numFiles    int
 }
 
 type packageDescriptor struct {
@@ -117,18 +118,17 @@ func (r *Files) RegisterFile(file protoreflect.FileDescriptor) error {
 		r.descsByName = map[protoreflect.FullName]interface{}{
 			"": &packageDescriptor{},
 		}
-		r.filesByPath = make(map[string]protoreflect.FileDescriptor)
+		r.filesByPath = make(map[string][]protoreflect.FileDescriptor)
 	}
 	path := file.Path()
-	if prev := r.filesByPath[path]; prev != nil {
+	if prev := r.filesByPath[path]; len(prev) > 0 {
 		r.checkGenProtoConflict(path)
 		err := errors.New("file %q is already registered", file.Path())
-		err = amendErrorWithCaller(err, prev, file)
-		if r == GlobalFiles && ignoreConflict(file, err) {
-			err = nil
-		}
+		err = amendErrorWithCaller(err, prev[0], file)
+		if !(r == GlobalFiles && ignoreConflict(file, err)) {
 			return err
 		}
+	}
 
 	for name := file.Package(); name != ""; name = name.Parent() {
 		switch prev := r.descsByName[name]; prev.(type) {
@@ -168,7 +168,8 @@ func (r *Files) RegisterFile(file protoreflect.FileDescriptor) error {
 	rangeTopLevelDescriptors(file, func(d protoreflect.Descriptor) {
 		r.descsByName[d.FullName()] = d
 	})
-	r.filesByPath[path] = file
+	r.filesByPath[path] = append(r.filesByPath[path], file)
+	r.numFiles++
 	return nil
 }
 
@@ -308,6 +309,7 @@ func (s *nameSuffix) Pop() (name protoreflect.Name) {
 // FindFileByPath looks up a file by the path.
 //
 // This returns (nil, NotFound) if not found.
+// This returns an error if multiple files have the same path.
 func (r *Files) FindFileByPath(path string) (protoreflect.FileDescriptor, error) {
 	if r == nil {
 		return nil, NotFound
@@ -316,13 +318,19 @@ func (r *Files) FindFileByPath(path string) (protoreflect.FileDescriptor, error)
 		globalMutex.RLock()
 		defer globalMutex.RUnlock()
 	}
-	if fd, ok := r.filesByPath[path]; ok {
-		return fd, nil
-	}
+	fds := r.filesByPath[path]
+	switch len(fds) {
+	case 0:
 		return nil, NotFound
+	case 1:
+		return fds[0], nil
+	default:
+		return nil, errors.New("multiple files named %q", path)
+	}
 }
 
-// NumFiles reports the number of registered files.
+// NumFiles reports the number of registered files,
+// including duplicate files with the same name.
 func (r *Files) NumFiles() int {
 	if r == nil {
 		return 0
@@ -331,10 +339,11 @@ func (r *Files) NumFiles() int {
 		globalMutex.RLock()
 		defer globalMutex.RUnlock()
 	}
-	return len(r.filesByPath)
+	return r.numFiles
 }
 
 // RangeFiles iterates over all registered files while f returns true.
+// If multiple files have the same name, RangeFiles iterates over all of them.
 // The iteration order is undefined.
 func (r *Files) RangeFiles(f func(protoreflect.FileDescriptor) bool) {
 	if r == nil {
@@ -344,11 +353,13 @@ func (r *Files) RangeFiles(f func(protoreflect.FileDescriptor) bool) {
 		globalMutex.RLock()
 		defer globalMutex.RUnlock()
 	}
-	for _, file := range r.filesByPath {
+	for _, files := range r.filesByPath {
+		for _, file := range files {
 			if !f(file) {
 				return
 			}
 		}
+	}
 }
 
 // NumFilesByPackage reports the number of registered files in a proto package.

go/vendor/google.golang.org/protobuf/runtime/protoiface/methods.go

@@ -103,6 +103,7 @@ type UnmarshalInput = struct {
 		FindExtensionByName(field protoreflect.FullName) (protoreflect.ExtensionType, error)
 		FindExtensionByNumber(message protoreflect.FullName, field protoreflect.FieldNumber) (protoreflect.ExtensionType, error)
 	}
+	Depth int
 }
 
 // UnmarshalOutput is output from the Unmarshal method.

go/vendor/modules.txt

@@ -1,8 +1,8 @@
 # github.com/golang/protobuf v1.5.2
 ## explicit; go 1.9
 github.com/golang/protobuf/ptypes/timestamp
-# google.golang.org/protobuf v1.26.0
-## explicit; go 1.9
+# google.golang.org/protobuf v1.28.0
+## explicit; go 1.11
 google.golang.org/protobuf/encoding/prototext
 google.golang.org/protobuf/encoding/protowire
 google.golang.org/protobuf/internal/descfmt

python/events/events_pb2.py

@@ -1,11 +1,10 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
 # source: events/events.proto
-
-from google.protobuf.internal import enum_type_wrapper
+"""Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
 from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
+from google.protobuf import descriptor_pool as _descriptor_pool
 from google.protobuf import symbol_database as _symbol_database
 # @@protoc_insertion_point(imports)
 
@@ -15,744 +14,40 @@ _sym_db = _symbol_database.Default()
 from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
 
 
-DESCRIPTOR = _descriptor.FileDescriptor(
-  name='events/events.proto',
-  package='robocar.events',
-  syntax='proto3',
-  serialized_options=b'Z\006events',
-  create_key=_descriptor._internal_create_key,
-  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\"\x8c\x01\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\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\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\"\x82\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*-\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,])
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(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(\x02\x12\x0b\n\x03top\x18\x03 \x01(\x02\x12\r\n\x05right\x18\x04 \x01(\x02\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x02\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"\x8c\x01\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\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\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\"\x82\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*-\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\nZ\x08./eventsb\x06proto3')
 
-_DRIVEMODE = _descriptor.EnumDescriptor(
-  name='DriveMode',
-  full_name='robocar.events.DriveMode',
-  filename=None,
-  file=DESCRIPTOR,
-  create_key=_descriptor._internal_create_key,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='INVALID', index=0, number=0,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='USER', index=1, number=1,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='PILOT', index=2, number=2,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-  ],
-  containing_type=None,
-  serialized_options=None,
-  serialized_start=1196,
-  serialized_end=1241,
-)
-_sym_db.RegisterEnumDescriptor(_DRIVEMODE)
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'events.events_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
 
-DriveMode = enum_type_wrapper.EnumTypeWrapper(_DRIVEMODE)
-_TYPEOBJECT = _descriptor.EnumDescriptor(
-  name='TypeObject',
-  full_name='robocar.events.TypeObject',
-  filename=None,
-  file=DESCRIPTOR,
-  create_key=_descriptor._internal_create_key,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='ANY', index=0, number=0,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='CAR', index=1, number=1,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='BUMP', index=2, number=2,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-    _descriptor.EnumValueDescriptor(
-      name='PLOT', index=3, number=3,
-      serialized_options=None,
-      type=None,
-      create_key=_descriptor._internal_create_key),
-  ],
-  containing_type=None,
-  serialized_options=None,
-  serialized_start=1243,
-  serialized_end=1293,
-)
-_sym_db.RegisterEnumDescriptor(_TYPEOBJECT)
-
-TypeObject = enum_type_wrapper.EnumTypeWrapper(_TYPEOBJECT)
-INVALID = 0
-USER = 1
-PILOT = 2
-ANY = 0
-CAR = 1
-BUMP = 2
-PLOT = 3
-
-
-
-_FRAMEREF = _descriptor.Descriptor(
-  name='FrameRef',
-  full_name='robocar.events.FrameRef',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='name', full_name='robocar.events.FrameRef.name', index=0,
-      number=1, 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='id', full_name='robocar.events.FrameRef.id', index=1,
-      number=2, 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='created_at', full_name='robocar.events.FrameRef.created_at', 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),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=72,
-  serialized_end=156,
-)
-
-
-_FRAMEMESSAGE = _descriptor.Descriptor(
-  name='FrameMessage',
-  full_name='robocar.events.FrameMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='id', full_name='robocar.events.FrameMessage.id', 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='frame', full_name='robocar.events.FrameMessage.frame', index=1,
-      number=2, type=12, cpp_type=9, label=1,
-      has_default_value=False, default_value=b"",
-      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='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=158,
-  serialized_end=225,
-)
-
-
-_STEERINGMESSAGE = _descriptor.Descriptor(
-  name='SteeringMessage',
-  full_name='robocar.events.SteeringMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='steering', full_name='robocar.events.SteeringMessage.steering', index=0,
-      number=1, 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='confidence', full_name='robocar.events.SteeringMessage.confidence', index=1,
-      number=2, 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='frame_ref', full_name='robocar.events.SteeringMessage.frame_ref', 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),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=227,
-  serialized_end=327,
-)
-
-
-_THROTTLEMESSAGE = _descriptor.Descriptor(
-  name='ThrottleMessage',
-  full_name='robocar.events.ThrottleMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='throttle', full_name='robocar.events.ThrottleMessage.throttle', index=0,
-      number=1, 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='confidence', full_name='robocar.events.ThrottleMessage.confidence', index=1,
-      number=2, 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='frame_ref', full_name='robocar.events.ThrottleMessage.frame_ref', 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),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=329,
-  serialized_end=429,
-)
-
-
-_DRIVEMODEMESSAGE = _descriptor.Descriptor(
-  name='DriveModeMessage',
-  full_name='robocar.events.DriveModeMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='drive_mode', full_name='robocar.events.DriveModeMessage.drive_mode', index=0,
-      number=1, type=14, cpp_type=8, 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),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=431,
-  serialized_end=496,
-)
-
-
-_OBJECTSMESSAGE = _descriptor.Descriptor(
-  name='ObjectsMessage',
-  full_name='robocar.events.ObjectsMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='objects', full_name='robocar.events.ObjectsMessage.objects', 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='frame_ref', full_name='robocar.events.ObjectsMessage.frame_ref', 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),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=498,
-  serialized_end=600,
-)
-
-
-_OBJECT = _descriptor.Descriptor(
-  name='Object',
-  full_name='robocar.events.Object',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='type', full_name='robocar.events.Object.type', index=0,
-      number=1, type=14, cpp_type=8, 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='left', full_name='robocar.events.Object.left', 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,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='top', full_name='robocar.events.Object.top', 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='right', full_name='robocar.events.Object.right', 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='bottom', full_name='robocar.events.Object.bottom', 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='confidence', full_name='robocar.events.Object.confidence', index=5,
-      number=6, 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='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=603,
-  serialized_end=731,
-)
-
-
-_SWITCHRECORDMESSAGE = _descriptor.Descriptor(
-  name='SwitchRecordMessage',
-  full_name='robocar.events.SwitchRecordMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='enabled', full_name='robocar.events.SwitchRecordMessage.enabled', index=0,
-      number=1, 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),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=733,
-  serialized_end=771,
-)
-
-
-_ROADMESSAGE = _descriptor.Descriptor(
-  name='RoadMessage',
-  full_name='robocar.events.RoadMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  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,  create_key=_descriptor._internal_create_key),
-    _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,  create_key=_descriptor._internal_create_key),
-    _descriptor.FieldDescriptor(
-      name='frame_ref', full_name='robocar.events.RoadMessage.frame_ref', 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),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=774,
-  serialized_end=914,
-)
-
-
-_POINT = _descriptor.Descriptor(
-  name='Point',
-  full_name='robocar.events.Point',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  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,  create_key=_descriptor._internal_create_key),
-    _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,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=916,
-  serialized_end=945,
-)
-
-
-_ELLIPSE = _descriptor.Descriptor(
-  name='Ellipse',
-  full_name='robocar.events.Ellipse',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  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,  create_key=_descriptor._internal_create_key),
-    _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,  create_key=_descriptor._internal_create_key),
-    _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,  create_key=_descriptor._internal_create_key),
-    _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,  create_key=_descriptor._internal_create_key),
-    _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,  create_key=_descriptor._internal_create_key),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=947,
-  serialized_end=1061,
-)
-
-
-_RECORDMESSAGE = _descriptor.Descriptor(
-  name='RecordMessage',
-  full_name='robocar.events.RecordMessage',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  create_key=_descriptor._internal_create_key,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='frame', full_name='robocar.events.RecordMessage.frame', 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='steering', full_name='robocar.events.RecordMessage.steering', 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='recordSet', full_name='robocar.events.RecordMessage.recordSet', index=2,
-      number=3, 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='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=1064,
-  serialized_end=1194,
-)
-
-_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
-_THROTTLEMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
-_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
-_ROADMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
-_ELLIPSE.fields_by_name['center'].message_type = _POINT
-_RECORDMESSAGE.fields_by_name['frame'].message_type = _FRAMEMESSAGE
-_RECORDMESSAGE.fields_by_name['steering'].message_type = _STEERINGMESSAGE
-DESCRIPTOR.message_types_by_name['FrameRef'] = _FRAMEREF
-DESCRIPTOR.message_types_by_name['FrameMessage'] = _FRAMEMESSAGE
-DESCRIPTOR.message_types_by_name['SteeringMessage'] = _STEERINGMESSAGE
-DESCRIPTOR.message_types_by_name['ThrottleMessage'] = _THROTTLEMESSAGE
-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.message_types_by_name['RecordMessage'] = _RECORDMESSAGE
-DESCRIPTOR.enum_types_by_name['DriveMode'] = _DRIVEMODE
-DESCRIPTOR.enum_types_by_name['TypeObject'] = _TYPEOBJECT
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-FrameRef = _reflection.GeneratedProtocolMessageType('FrameRef', (_message.Message,), {
-  'DESCRIPTOR' : _FRAMEREF,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.FrameRef)
-  })
-_sym_db.RegisterMessage(FrameRef)
-
-FrameMessage = _reflection.GeneratedProtocolMessageType('FrameMessage', (_message.Message,), {
-  'DESCRIPTOR' : _FRAMEMESSAGE,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.FrameMessage)
-  })
-_sym_db.RegisterMessage(FrameMessage)
-
-SteeringMessage = _reflection.GeneratedProtocolMessageType('SteeringMessage', (_message.Message,), {
-  'DESCRIPTOR' : _STEERINGMESSAGE,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.SteeringMessage)
-  })
-_sym_db.RegisterMessage(SteeringMessage)
-
-ThrottleMessage = _reflection.GeneratedProtocolMessageType('ThrottleMessage', (_message.Message,), {
-  'DESCRIPTOR' : _THROTTLEMESSAGE,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.ThrottleMessage)
-  })
-_sym_db.RegisterMessage(ThrottleMessage)
-
-DriveModeMessage = _reflection.GeneratedProtocolMessageType('DriveModeMessage', (_message.Message,), {
-  'DESCRIPTOR' : _DRIVEMODEMESSAGE,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.DriveModeMessage)
-  })
-_sym_db.RegisterMessage(DriveModeMessage)
-
-ObjectsMessage = _reflection.GeneratedProtocolMessageType('ObjectsMessage', (_message.Message,), {
-  'DESCRIPTOR' : _OBJECTSMESSAGE,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.ObjectsMessage)
-  })
-_sym_db.RegisterMessage(ObjectsMessage)
-
-Object = _reflection.GeneratedProtocolMessageType('Object', (_message.Message,), {
-  'DESCRIPTOR' : _OBJECT,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.Object)
-  })
-_sym_db.RegisterMessage(Object)
-
-SwitchRecordMessage = _reflection.GeneratedProtocolMessageType('SwitchRecordMessage', (_message.Message,), {
-  'DESCRIPTOR' : _SWITCHRECORDMESSAGE,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.SwitchRecordMessage)
-  })
-_sym_db.RegisterMessage(SwitchRecordMessage)
-
-RoadMessage = _reflection.GeneratedProtocolMessageType('RoadMessage', (_message.Message,), {
-  'DESCRIPTOR' : _ROADMESSAGE,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.RoadMessage)
-  })
-_sym_db.RegisterMessage(RoadMessage)
-
-Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), {
-  'DESCRIPTOR' : _POINT,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.Point)
-  })
-_sym_db.RegisterMessage(Point)
-
-Ellipse = _reflection.GeneratedProtocolMessageType('Ellipse', (_message.Message,), {
-  'DESCRIPTOR' : _ELLIPSE,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.Ellipse)
-  })
-_sym_db.RegisterMessage(Ellipse)
-
-RecordMessage = _reflection.GeneratedProtocolMessageType('RecordMessage', (_message.Message,), {
-  'DESCRIPTOR' : _RECORDMESSAGE,
-  '__module__' : 'events.events_pb2'
-  # @@protoc_insertion_point(class_scope:robocar.events.RecordMessage)
-  })
-_sym_db.RegisterMessage(RecordMessage)
-
-
-DESCRIPTOR._options = None
+  DESCRIPTOR._options = None
+  DESCRIPTOR._serialized_options = b'Z\010./events'
+  _DRIVEMODE._serialized_start=1196
+  _DRIVEMODE._serialized_end=1241
+  _TYPEOBJECT._serialized_start=1243
+  _TYPEOBJECT._serialized_end=1293
+  _FRAMEREF._serialized_start=72
+  _FRAMEREF._serialized_end=156
+  _FRAMEMESSAGE._serialized_start=158
+  _FRAMEMESSAGE._serialized_end=225
+  _STEERINGMESSAGE._serialized_start=227
+  _STEERINGMESSAGE._serialized_end=327
+  _THROTTLEMESSAGE._serialized_start=329
+  _THROTTLEMESSAGE._serialized_end=429
+  _DRIVEMODEMESSAGE._serialized_start=431
+  _DRIVEMODEMESSAGE._serialized_end=496
+  _OBJECTSMESSAGE._serialized_start=498
+  _OBJECTSMESSAGE._serialized_end=600
+  _OBJECT._serialized_start=603
+  _OBJECT._serialized_end=731
+  _SWITCHRECORDMESSAGE._serialized_start=733
+  _SWITCHRECORDMESSAGE._serialized_end=771
+  _ROADMESSAGE._serialized_start=774
+  _ROADMESSAGE._serialized_end=914
+  _POINT._serialized_start=916
+  _POINT._serialized_end=945
+  _ELLIPSE._serialized_start=947
+  _ELLIPSE._serialized_end=1061
+  _RECORDMESSAGE._serialized_start=1064
+  _RECORDMESSAGE._serialized_end=1194
 # @@protoc_insertion_point(module_scope)