125 lines
2.8 KiB
Protocol Buffer
125 lines
2.8 KiB
Protocol Buffer
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB), and the INTEL Visual Computing Lab.
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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syntax = "proto3";
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package carla_server;
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option cc_enable_arenas = true;
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// =============================================================================
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// -- Basic types --------------------------------------------------------------
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// =============================================================================
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message Vector3D {
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float x = 1;
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float y = 2;
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float z = 3;
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}
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message Transform {
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Vector3D location = 1;
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// For now, orientation as the cartesian coordinates X, Y, Z. But we are
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// probably better off using Roll, Pitch, Yaw in the future as it gives more
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// info.
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Vector3D orientation = 2;
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}
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message Vehicle {
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Transform transform = 1;
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Vector3D box_extent = 2;
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float forward_speed = 3;
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}
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message Pedestrian {
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Transform transform = 1;
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Vector3D box_extent = 2;
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float forward_speed = 3;
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}
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message TrafficLight {
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enum State {
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GREEN = 0;
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YELLOW = 1;
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RED = 2;
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}
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Transform transform = 1;
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State state = 2;
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}
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message SpeedLimitSign {
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Transform transform = 1;
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float speed_limit = 2;
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}
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message Agent {
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fixed32 id = 1;
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oneof agent {
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Vehicle vehicle = 2;
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Pedestrian pedestrian = 3;
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TrafficLight traffic_light = 4;
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SpeedLimitSign speed_limit_sign = 5;
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}
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}
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// =============================================================================
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// -- World Server Messages ----------------------------------------------------
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// =============================================================================
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message RequestNewEpisode {
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string ini_file = 1;
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}
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message SceneDescription {
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repeated Transform player_start_spots = 1;
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}
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message EpisodeStart {
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uint32 player_start_spot_index = 1;
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}
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message EpisodeReady {
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bool ready = 1;
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}
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// =============================================================================
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// -- Agent Server Messages ----------------------------------------------------
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// =============================================================================
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message Control {
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float steer = 1;
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float throttle = 2;
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float brake = 3;
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bool hand_brake = 4;
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bool reverse = 5;
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}
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message Measurements {
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message PlayerMeasurements {
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Transform transform = 1;
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Vector3D acceleration = 3;
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float forward_speed = 4;
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float collision_vehicles = 5;
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float collision_pedestrians = 6;
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float collision_other = 7;
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float intersection_otherlane = 8;
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float intersection_offroad = 9;
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Control autopilot_control = 10;
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}
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uint32 platform_timestamp = 1;
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uint32 game_timestamp = 2;
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PlayerMeasurements player_measurements = 3;
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repeated Agent non_player_agents = 4;
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}
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