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 DisparityMessage {
    FrameRef frame_ref= 1;
    bytes disparity = 2;
    double focal_length_in_pixels = 3;
    // the distance between two mono cameras
    double baseline_in_mm = 4;
}

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

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

enum SpeedZone {
    UNKNOWN = 0;
    SLOW = 1;
    NORMAL = 2;
    FAST = 3;
}

message SpeedZoneMessage {
    SpeedZone speed_zone = 1;
    float confidence = 2;
    FrameRef frame_ref = 3;
}

message DriveModeMessage {
    DriveMode drive_mode = 1;
}

enum DriveMode {
    INVALID = 0;
    USER = 1;
    PILOT = 2;
    COPILOT = 3;
}

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

// BoundingBox that contains an object, coordinates as percent
message Object {
    TypeObject type = 1;
    float left = 2;
    float top = 3;
    float right = 4;
    float bottom = 5;
    float confidence = 6;
    int64 distanceInMm = 7;
}

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;
    SteeringMessage autopilot_steering = 4;
    DriveModeMessage drive_mode = 5;
    DisparityMessage disparity = 6;
    string recordSet = 3; // Record set name
}