carla/Util/Proto/carla_server.proto

// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.

syntax = "proto3";

package carla_server;

option cc_enable_arenas = true;

// =============================================================================
// -- Basic types --------------------------------------------------------------
// =============================================================================

message Vector3D {
  float x = 1;
  float y = 2;
  float z = 3;
}

message Rotation3D {
  float pitch = 1;
  float yaw = 2;
  float roll = 3;
}

message Transform {
  Vector3D location = 1;
  Vector3D orientation = 2 [deprecated=true];
  Rotation3D rotation = 3;
}

message BoundingBox {
  Transform transform = 1;
  Vector3D extent = 2;
}

// =============================================================================
// -- Sensors ------------------------------------------------------------------
// =============================================================================

message Sensor {
  enum Type {
    UNKNOWN = 0;
    CAMERA = 1;
    LIDAR_RAY_CAST = 2;
  }

  fixed32 id = 1;
  Type type = 2;
  string name = 3;
}

// =============================================================================
// -- Agents -------------------------------------------------------------------
// =============================================================================

message Vehicle {
  Transform transform = 1;
  BoundingBox bounding_box = 4;
  float forward_speed = 3;
}

message Pedestrian {
  Transform transform = 1;
  BoundingBox bounding_box = 4;
  float forward_speed = 3;
}

message TrafficLight {
  enum State {
    GREEN = 0;
    YELLOW = 1;
    RED = 2;
  }
  Transform transform = 1;
  State state = 2;
}

message SpeedLimitSign {
  Transform transform = 1;
  float speed_limit = 2;
}

message Agent {
  fixed32 id = 1;
  oneof agent {
    Vehicle vehicle = 2;
    Pedestrian pedestrian = 3;
    TrafficLight traffic_light = 4;
    SpeedLimitSign speed_limit_sign = 5;
  }
}

// =============================================================================
// -- World Server Messages ----------------------------------------------------
// =============================================================================

message RequestNewEpisode {
  string ini_file = 1;
}

message SceneDescription {
  string map_name = 3;
  repeated Transform player_start_spots = 1;
  repeated Sensor sensors = 2;
}

message EpisodeStart {
  uint32 player_start_spot_index = 1;
}

message EpisodeReady {
  bool ready = 1;
}

// =============================================================================
// -- Agent Server Messages ----------------------------------------------------
// =============================================================================

message Control {
  float steer = 1;
  float throttle = 2;
  float brake = 3;
  bool hand_brake = 4;
  bool reverse = 5;
}

message Measurements {
  message PlayerMeasurements {
    Transform transform = 1;

    BoundingBox bounding_box = 12;

    Vector3D acceleration = 3;
    float forward_speed = 4;

    float collision_vehicles = 5;
    float collision_pedestrians = 6;
    float collision_other = 7;

    float intersection_otherlane = 8;
    float intersection_offroad = 9;

    Control autopilot_control = 10;
  }

  uint64 frame_number = 5;

  uint32 platform_timestamp = 1;

  uint32 game_timestamp = 2;

  PlayerMeasurements player_measurements = 3;

  repeated Agent non_player_agents = 4;
}