opendlv.odvd

/*
 * Copyright (C) 2018 Chalmers Revere
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 */

message opendlv.sim.Frame [id = 1001] {
  float x [id = 1];
  float y [id = 2];
  float z [id = 3];
  float roll [id = 4];
  float pitch [id = 5];
  float yaw [id = 6];
}

message opendlv.sim.KinematicState [id = 1002] {
  float vx [id = 1];
  float vy [id = 2];
  float vz [id = 3];
  float rollRate [id = 4];
  float pitchRate [id = 5];
  float yawRate [id = 6];
}

message opendlv.body.ComponentInfo [id = 1021] {
  string description [id = 1];
  float x [id = 2];
  float y [id = 3];
  float z [id = 4];
}

message opendlv.body.ActuatorInfo [id = 1022] {
  string description [id = 1];
  float x [id = 2];
  float y [id = 3];
  float z [id = 4];
  uint32 signalId [id = 5];
  float minValue [id = 6];
  float maxValue [id = 7];
}

message opendlv.body.SensorInfo [id = 1023] {
  string description [id = 1];
  float x [id = 2];
  float y [id = 3];
  float z [id = 4];
  uint32 signalId [id = 5];
  float accuracyStd [id = 6];
  uint16 minFrequency [id = 7];
}

message opendlv.body.SignalInfo [id = 1024] {
  string description [id = 1];
  uint32 signalId [id = 2];
  float accuracyStd [id = 3];
  uint16 minFrequency [id = 4];
}

message opendlv.proxy.AccelerationReading [id = 1030] {
  float accelerationX [id = 1];
  float accelerationY [id = 2];
  float accelerationZ [id = 3];
}

message opendlv.proxy.AngularVelocityReading [id = 1031] {
  float angularVelocityX [id = 1];
  float angularVelocityY [id = 2];
  float angularVelocityZ [id = 3];
}

message opendlv.proxy.MagneticFieldReading [id = 1032] {
  float magneticFieldX [id = 1];
  float magneticFieldY [id = 2];
  float magneticFieldZ [id = 3];
}

message opendlv.proxy.AltitudeReading [id = 1033] {
  float altitude [id = 1];
}

message opendlv.proxy.PressureReading [id = 1034] {
  float pressure [id = 1];
}

message opendlv.proxy.TemperatureReading [id = 1035] {
  float temperature [id = 1];
}

message opendlv.proxy.TorqueReading [id = 1036] {
  float torque [id = 1];
}

message opendlv.proxy.VoltageReading [id = 1037] {
  float voltage [id = 1];
}

message opendlv.proxy.AngleReading [id = 1038] {
  float angle [id = 1];
}

message opendlv.proxy.DistanceReading [id = 1039] {
  float distance [id = 1];
}

message opendlv.proxy.SwitchStateReading [id = 1040] {
  int16 state [id = 1];
}

message opendlv.proxy.PedalPositionReading [id = 1041] {
  float position [id = 1];
}

message opendlv.proxy.GroundSteeringReading [id = 1045] {
  float groundSteering [id = 1];
}

message opendlv.proxy.GroundSpeedReading [id = 1046] {
  float groundSpeed [id = 1];
}

message opendlv.proxy.WheelSpeedReading [id = 1047] {
  float wheelSpeed [id = 1];
}

message opendlv.proxy.WeightReading [id = 1050] {
  float weight [id = 1];
}

message opendlv.proxy.GeodeticHeadingReading [id = 1051] {
  float northHeading [id = 1];
}

message opendlv.proxy.GeodeticWgs84Reading [id = 19] {
  double latitude [id = 1];
  double longitude [id = 3];
}

message opendlv.proxy.ImageReading [id = 1055] {
    string fourcc [id = 1];
    uint32 width [id = 2];
    uint32 height [id = 3];
    bytes data [id = 4];
}

message opendlv.proxy.ImageReadingShared [id = 14] {
    string name [id = 1];
    uint32 size [id = 2];
    uint32 width [id = 3];
    uint32 height [id = 4];
    uint32 bytesPerPixel [id = 5];
}

// The PointCloudReading message supports the following sensors:
// HDL32e; fields 1,2,3,4 (list of 2 bytes values),5
// VLP32c; fields 1,2,3,4 (list of 2 bytes values),5,6
// VLP16; fields 1,2,3,4 (list of 2 bytes values),5
// RPLidar; fields 1,2,4 (list of 4 bytes float),5,6,7 (list of 4 bytes float)
message opendlv.proxy.PointCloudReading [id = 49] {
  float startAzimuth [id = 1]; // in degree
  float endAzimuth [id = 2]; // in degree
  uint8 entriesPerAzimuth [id = 3];
  bytes distances [id = 4];
  uint8 numberOfBitsForIntensity [id = 5];
  uint8 typeOfVerticalAngularLayout [id = 6]; // 0 = vertical angular layout for HDL32e, 1 = vertical angular layout fo VLP32c, 2 = RPlidar, ignored for other sensors.
  bytes azimuthAngles [id = 7]; // list of azimuths (only used for RPlidar, ie., typeOfVerticalAngularLayout == 2)
}

message opendlv.proxy.PointCloudReadingShared [id = 28] {
  string name [id = 1];
  uint32 size [id = 2];
  uint32 width [id = 3];
  uint32 height [id = 4];
  uint8 numberOfComponentsPerPoint [id = 5];
}

// V2xReading?


message opendlv.proxy.PressureRequest [id = 1080] {
  float pressure [id = 1];
}

message opendlv.proxy.TemperatureRequest [id = 1081] {
  float temperature [id = 1];
}

message opendlv.proxy.TorqueRequest [id = 1082] {
  float torque [id = 1];
}

message opendlv.proxy.VoltageRequest [id = 1083] {
  float voltage [id = 1];
}

message opendlv.proxy.AngleRequest [id = 1084] {
  float angle [id = 1];
}

message opendlv.proxy.SwitchStateRequest [id = 1085] {
  int16 state [id = 1];
}

message opendlv.proxy.PedalPositionRequest [id = 1086] {
  float position [id = 1];
}

message opendlv.proxy.PulseWidthModulationRequest [id = 1087] {
  uint32 dutyCycleNs [id = 1];
}

message opendlv.proxy.GroundSteeringRequest [id = 1090] {
  float groundSteering [id = 1];
}

message opendlv.proxy.GroundSpeedRequest [id = 1091] {
  float groundSpeed [id = 1];
}

message opendlv.proxy.GroundAccelerationRequest [id = 1092] {
  float groundAcceleration [id = 1];
}

message opendlv.proxy.GroundDecelerationRequest [id = 1093] {
  float groundDeceleration [id = 1];
}

message opendlv.proxy.WheelSpeedRequest [id = 1094] {
  float wheelSpeed [id = 1];
}

// V2xRequest?


message opendlv.system.SignalStatusMessage [id = 1100] {
  int32 code [id = 1];
  string description [id = 2];
}

message opendlv.system.SystemOperationState [id = 1101] {
  int32 code [id = 1];
  string description [id = 2];
}

message opendlv.system.NetworkStatusMessage [id = 1102] {
  int32 code [id = 1];
  string description [id = 2];
}

message opendlv.system.LogMessage [id = 1103] {
  uint8 level [default = 6, id = 1]; // based on syslog: 0 = Emergency, 1 = Alert, 2 = Critical, 3 = Error, 4 = Warning, 5 = Notice, 6 = Informational, 7 = Debug   
  string description [id = 2];
}


message opendlv.logic.sensation.Direction [id = 1110] {
  float azimuthAngle [id = 1];
  float zenithAngle [id = 2];
}

message opendlv.logic.sensation.Point [id = 1111] {
  float azimuthAngle [id = 1];
  float zenithAngle [id = 2];
  float distance [id = 3];
}

message opendlv.logic.sensation.Geolocation [id = 1116] {
  double latitude [id = 1];
  double longitude [id = 2];
  float altitude [id = 3];
  float heading [id = 4];
}

message opendlv.logic.sensation.Equilibrioception [id = 1017] {
  float vx [id = 1];
  float vy [id = 2];
  float vz [id = 3];
  float rollRate [id = 4];
  float pitchRate [id = 5];
  float yawRate [id = 6];
}



message opendlv.logic.perception.Object [id = 1130] {
  uint32 objectId [id = 1];
}

message opendlv.logic.perception.ObjectType [id = 1131] {
  uint32 objectId [id = 1];
  uint32 type [id = 2];
}

message opendlv.logic.perception.ObjectProperty [id = 1132] {
  uint32 objectId [id = 1];
  string property [id = 2];
}

message opendlv.logic.perception.ObjectDirection [id = 1133] {
  uint32 objectId [id = 1];
  float azimuthAngle [id = 2];
  float zenithAngle [id = 3];
}

message opendlv.logic.perception.ObjectDistance [id = 1134] {
  uint32 objectId [id = 1];
  float distance [id = 2];
}

message opendlv.logic.perception.ObjectAngularBlob [id = 1135] {
  uint32 objectId [id = 1];
  float width [id = 2];
  float height [id = 3];
}

message opendlv.logic.perception.GroundSurface [id = 1140] {
  uint32 surfaceId [id = 1];
}

message opendlv.logic.perception.GroundSurfaceType [id = 1141] {
  uint32 surfaceId [id = 1];
  uint32 type [id = 2];
}

message opendlv.logic.perception.GroundSurfaceProperty [id = 1142] {
  uint32 surfaceId [id = 1];
  string property [id = 2];
}

message opendlv.logic.perception.GroundSurfaceArea [id = 1143] {
  uint32 surfaceId [id = 1];
  float x1 [id = 2];
  float y1 [id = 3];
  float x2 [id = 4];
  float y2 [id = 5];
  float x3 [id = 6];
  float y3 [id = 7];
  float x4 [id = 8];
  float y4 [id = 9];
}


message opendlv.logic.action.AimDirection [id = 1171] {
  float azimuthAngle [id = 1];
  float zenithAngle [id = 2];
}

message opendlv.logic.action.AimPoint [id = 1172] {
  float azimuthAngle [id = 1];
  float zenithAngle [id = 2];
  float distance [id = 3];
}

message opendlv.logic.action.PreviewPoint [id = 1173] {
  float azimuthAngle [id = 1];
  float zenithAngle [id = 2];
  float distance [id = 3];
}

message opendlv.logic.cognition.GroundSteeringLimit [id = 1191] {
  float steeringLimit [id = 1];
}

message opendlv.logic.cognition.GroundSpeedLimit [id = 1192] {
  float speedLimit [id = 1];
}