cfsd-extended-message-set-v0.0.1.odvd

/*
 * Copyright (C) 2018 Chalmers Formula Student Driverless
 *
 * 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.
 */


/* This is a oepndlv message set for CFSD extened usages from opendlv-standard-message-set.
 * The idea is to keep the minium difinitions of this extened msg.
 * If there are sutible messages avaliable in the standard set, please use those. 
 * Otherwise, append a new one here.
 * Naming rules: opendlv.cfsdXXXX.XXXX
 * Version: v0.0.1
 */


/* For Talking to Lynx Car ONLY 
 * No used outside Microservices :  chalmersfsd / cfsd-proxy-cangw-* 
 */

message opendlv.cfsdProxyCANReading.AsStatus [id = 2001] {
    int accSoC [id = 1];
    int brakeRear [id = 2];
    int brakeFront [id = 3];
    int dlStatus [id = 4];
    int asMission [id = 5];
}

message opendlv.cfsdProxyCANReading.WheelSpeedFront [id = 2002]{
    float wheelFrontRight [id = 1];
    float wheelFrontLeft [id = 2];
}

message opendlv.cfsdProxyCANReading.WheelSpeedRare [id = 2003]{
    float wheelRareRight [id = 1];
    float wheelRareLeft [id = 2];
}

message opendlv.cfsdProxyCANReading.PedalRatio [id = 2004]{
    int throttle [id = 1];
    int brake [id = 2];
}

message opendlv.cfsdProxyCANWriting.ASTorque [id = 2005]{
    int torqueLeft [id = 1];
    int torqueRight [id = 2];
}

message opendlv.cfsdProxyCANWriting.ASStatus [id = 2006]{
    int asRedyToDrive [id = 1];
    int steeringPosition [id = 2];
    int rackPosition [id = 3];
    int pressureService [id = 4];
    int pressureRegulator [id = 5];
    int pressureEBSLine [id = 6];
    int pressureEBSAct [id = 7];
    int asState [id = 8];
}

message opendlv.cfsdProxyCANWriting.NMT [id = 2007]{
    uint8 nodeState [id = 1];
    uint8 nodeId [id = 2];
}

message opendlv.cfsdProxyCANReading.RESStatus [id = 2008]{
    int resStatus [id = 1];
    int resEStop [id = 2];
    int resQuality [id = 3];
    int resButtons [id = 4]; 
}

message opendlv.cfsdProxyCANReading.Knobs [id = 2009]{
    int knobL [id = 1];
    int knobR [id = 2];
}

/****************/

message opendlv.cfsdProxy.TorqueRequestDual [id = 2010]{
    int torqueLeft [id = 1];
    int torqueRight [id = 2];
}

message opendlv.cfsdPerception.Cones8 [id = 2011]{
    uint8 count [id = 1];

    float x1 [id = 2];
    float y1 [id = 3];
    float confidence1 [id = 4];
    uint8 class1 [id = 5];

    float x2 [id = 6];
    float y2 [id = 7];
    float confidence2 [id = 8];
    uint8 class2 [id = 9];
    
    float x3 [id = 10];
    float y3 [id = 11];
    float confidence3 [id = 12];
    uint8 class3 [id = 13];
    
    float x4 [id = 14];
    float y4 [id = 15];
    float confidence4 [id = 16];
    uint8 class4 [id = 17];
    
    float x5 [id = 18];
    float y5 [id = 19];
    float confidence5 [id = 20];
    uint8 class5 [id = 21];
    
    float x6 [id = 22];
    float y6 [id = 23];
    float confidence6 [id = 24];
    uint8 class6 [id = 25];
    
    float x7 [id = 26];
    float y7 [id = 27];
    float confidence7 [id = 28];
    uint8 class7 [id = 29];
    
    float x8 [id = 30];
    float y8 [id = 31];
    float confidence8 [id = 32];
    uint8 class8 [id = 33];
}