Extension by HMI-, ADAS- and Dynamic-Values (Part II)

osi_common.proto

@@ -428,3 +428,254 @@ message BaseMoving
     //
     repeated Vector2d base_polygon = 7;
 }
+
+//
+// \brief A description for the steering wheel.
+//
+message SteeringWheel
+{
+    // Angle of the steering wheel. 
+    // 0=Central (Straight); Left>0; 0>Right.
+    //
+    // Unit: [rad]
+    //
+    optional double angle = 1;
+
+    // Angle-speed of the steering wheel.
+    // 0=Central (Straight); Left>0; 0>Right.
+    //
+    // Unit: [rad/s]
+    //
+    optional double angular_speed = 2;
+
+    // Torque of the steering wheel to the hand.
+    // 0=Central (Straight); Left>0; 0>Right.
+    //
+    // Unit: [N*m]
+    //
+    optional double torque = 3;
+}
+
+//
+// \brief A description for the positions of the pedals.
+//
+//
+message Pedalry
+{
+    // Position of the acceleration-pedal.
+    // Unit: [0-1] (Unpressed - fully pressed)
+    //
+    optional double pedal_position_acceleration = 1;
+
+    // Position of the brake-pedal.
+    // Unit: [0-1] (Unpressed - fully pressed)
+    //
+    optional double pedal_position_brake = 2;
+
+    // Position of the clutch-pedal.
+    // Unit: [0-1] (Unpressed - fully pressed)
+    //
+    optional double pedal_position_clutch = 3;
+}
+
+//
+// \brief This is a message to describe, which trajectory the vehicle should
+// follow.
+//
+//
+message Trajectory
+{
+    // Contains the timestamp where the trajectorypoint should be reached.
+    //
+    // Unit: [s]
+    //
+    optional Timestamp timestamp = 1;
+
+    // Contains the X-Position the vehicle should be at the timestamp.
+    //
+    optional double targeted_pos_x = 2;
+
+    // Contains the Y-Position the vehicle should be at the timestamp.
+    //
+    optional double targeted_pos_y = 3;
+
+    // Direction of the vehicle at the timestamp.
+    //
+    // Unit: [rad]
+    //
+    optional double track_angle = 4;
+
+    // Contains the curvature at the timestamp.
+    //
+    // Unit: [1/m]
+    //
+    optional double curvature = 5;
+
+    // Contains the curvature change at the timestamp.
+    //
+    // Unit: [1/(m*s)]
+    //
+    optional double curvature_change = 6;
+
+    // Contains the velocity of the vehicle at the timestamp.
+    //
+    // Unit: [m/s]
+    //
+    optional double velocity = 7;
+
+    // Contains the acceleration of the vehicle at the timestamp.
+    //
+    // Unit: [m/s^2]
+    //
+    optional double acceleration = 8;
+
+    // Contains the interpolation method.
+    //
+    optional InterpolationMethod interpolation_method = 9;
+
+    // Contains the interpolation method.
+    //
+    enum InterpolationMethod
+    {
+        // The interpolation method is unknown (must not be used in ground
+        // truth).
+        //
+        INTERPOLATION_METHOD_UNKNOWN = 0;
+
+        // Other (unspecified but known) interpolation method.
+        //
+        INTERPOLATION_METHOD_OTHER = 1;
+
+        // Stay on the actual lane.
+        //
+        INTERPOLATION_METHOD_LINEAR = 2;
+
+        // Change to the left.
+        //
+        INTERPOLATION_METHOD_CUBIC = 3;
+    }
+}
+
+//
+// \brief The actual gear of the car.
+//
+//
+message GearLeverState
+{
+    // Current set gear of the gear lever. It is optional if none of these
+    // conditions is fulfilled:
+    // - the gear lever controls a manual transmission 
+    // - the gear lever controls an automatic transmission with the manual
+    //   override mode set.
+    //
+    // The sign of this field set the gear's mode as following:
+    // - zero: neutral position
+    // - positive: driving forward mode
+    // - negative: reverse mode (generally -1, but some vehicles have several
+    //   reverse mode gears)
+    //
+    optional int32 gear = 1;
+
+    // This Gear Lever controls an automatic transmission.
+    //
+    optional bool controls_automatic_transmission = 2;
+
+    // Transmission mode of an automatic transmission.
+    //
+    // Optional if the transmission is manual.
+    //
+    optional AutomaticTransmissionMode automatic_transmission_mode = 3;
+
+    // The request from the driver to shift gear if the transmission mode is
+    // MANUAL_OVERRIDE_MODE.
+    //
+    optional ManualOverrideRequest manual_override_request = 4;
+
+    // The all-wheel drive (AWD) mode is engaged by the driver.
+    //
+    optional bool is_all_wheel_drive_engaged = 5;
+
+    // Describe the possible mode of an automatic transmission.
+    //
+    enum AutomaticTransmissionMode
+    {
+        // The gear transmission mode is unknown (must not be
+        // used in ground truth).
+        //
+        AUTOMATIC_TRANSMISSION_MODE_UNKNOWN = 0;
+
+        // Other (unspecified but known) transmisson mode.
+        //
+        AUTOMATIC_TRANSMISSION_MODE_OTHER = 1;
+
+        // The gear lever is in automatic parking mode.
+        //
+        AUTOMATIC_TRANSMISSION_MODE_PARK = 2;
+
+        // The gear lever is in reverse motion mode.
+        //
+        AUTOMATIC_TRANSMISSION_MODE_REVERSE = 3;
+
+        // The gear lever is in automatic neutral mode.
+        //
+        AUTOMATIC_TRANSMISSION_MODE_NEUTRAL = 4;
+
+        // The gear lever is in automatic driving mode.
+        //
+        AUTOMATIC_TRANSMISSION_MODE_DRIVE = 5;
+
+        // The gear lever is in a manual override mode.
+        //
+        AUTOMATIC_TRANSMISSION_MODE_MANUAL_OVERRIDE = 6;
+    }
+
+    // Describe a request for a gear change on automatic transmission vehicle
+    // with a gear shifter.
+    //
+    enum ManualOverrideRequest
+    {
+        // The manual override request is unknown (must not be
+        // used in ground truth).
+        //
+        MANUAL_OVERRIDE_REQUEST_UNKNOWN = 0;
+
+        // Other (unspecified but known) manual override request.
+        //
+        MANUAL_OVERRIDE_REQUEST_OTHER = 1;
+
+        // The driver shifts down on his own.
+        //
+        MANUAL_OVERRIDE_REQUEST_GEAR_DOWN = 2;
+
+        // The automatic transmission is in manual override mode
+        // but the driver is not shifting the gear.
+        //
+        MANUAL_OVERRIDE_REQUEST_GEAR_MID = 3;
+
+        // The driver shifts up on his own. 
+        //
+        MANUAL_OVERRIDE_REQUEST_GEAR_UP = 4;
+    }
+}
+
+//
+// \brief A 3D-vector for color-description regarding the RGB-format.
+// More information: https://en.wikipedia.org/wiki/RGB_color_model.
+//
+message ColorformatRGB
+{
+    // The part of red.
+    // Values from 0 to 255.
+    //
+    optional uint32 rgb_red = 1;
+
+    // The part of green.
+    // Values from 0 to 255.
+    //
+    optional uint32 rgb_green = 2;
+
+    // The part of blue.
+    // Values from 0 to 255.
+    //
+    optional uint32 rgb_blue = 3;
+}